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A new controller adapted to constrained pneumatic multichain structures
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DOI：10.1016/S0005-1098(00)00042-X.png)
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En 中文
The aim of this paper. is to propose a new controller which is able to deal with the dynamic motion of pneumatic multichains systems. The controller is studied for a leg of a biped robot. It represents the low level of a global architecture developed in our laboratory. The objective is to ensure a dynamic tracking of position and force for systems which may interact with the environment. For that, we propose a nonlinear controller based on a computed torque method taking into account the actuator and the mechanical models. The originality lies in the consideration of the impedance behaviour at each joint during free and constrained tasks. It leads to continuous control laws between contact and noncontact phases which enable real-time computations. The asymptotic stability is ensured using Popov criteria. Simulation results of this new controller are presented, leading to a good behaviour of the leg during a whole walking cycle at relatively high velocities. (C) 2000 Elsevier Science Ltd. All rights reserved.
Keyword:
model-based control
impedance control
stability analysis
pneumatic systems
walking
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5.9
论文数:
1.2W
被引数:
5.2W
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