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- Title
Parameters Sensitivity Analysis of Position-Based Impedance Control for Bionic Legged Robots' HDU.
- Authors
Kaixian Ba; Bin Yu; Zhengjie Gao; Wenfeng Li; Guoliang Ma; Xiangdong Kong
- Abstract
For the hydraulic drive unit (HDU) on the joints of bionic legged robots, this paper proposes the position-based impedance control method. Then, the impedance control performance is tested by a HDU performance test platform. Further, the method of first-order sensitivity matrix is proposed to analyze the dynamic sensitivity of four main control parameters under four working conditions. To research the parameter sensitivity quantificationally, two sensitivity indexes are defined, and the sensitivity analysis results are verified by experiments. The results of the experiments show that, when combined with corresponding optimization strategies, the dynamic compliance composition theory and the results from sensitivity analysis can compensate for the control parameters and optimize the control performance in different working conditions.
- Subjects
HYDRAULIC drive; ROBOTS; IMPEDANCE control
- Publication
Applied Sciences (2076-3417), 2017, Vol 7, Issue 10, p1035
- ISSN
2076-3417
- Publication type
Article
- DOI
10.3390/app7101035