DAMPING VARIATION THROUGH ELECTROHYDRAULIC SERVOSYSTEM - AN APPLICATION TO ACTIVE IMPEDANCE CONTROL

In the field of robotic control, impedance control is seen as an effic ient method of position and force control during operations where ther e is a dynamic interaction between the robot and the environment. An i mpedance control strategy using an electrohydraulic servosystem for su ch tasks is described. The impedance of the robotic manipulator is var ied by varying the damping in the hydraulic servosystem appended to th e manipulator, which acts as a controller in the physical domain. Theo retical and experimental investigations carried out on a typical syste m are described. Bond graph as well as block diagram approaches are us ed for analysis of the system. Copyright (C) 1996 Elsevier Science Ltd .