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Article

High-Bandwidth Active Impedance Control of the Proprioceptive Actuator Design in Dynamic Compliant Robotics

Advanced Computer Systems Group, University of Southern Denmark, Campusvej 55, 5230 Odense, Denmark
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Actuators 2019, 8(4), 71; https://doi.org/10.3390/act8040071
Received: 8 September 2019 / Revised: 8 October 2019 / Accepted: 9 October 2019 / Published: 17 October 2019
Dynamic compliant robotics is a fast growing field because of its ability to widen the scope of robotics. The reason for this is that compliant mechanisms may ensure safe/compliant interactions between a robot and an external element—for instance, a human operator. Active impedance control may widen the scope even further in relation to passive elements, but it requires high-bandwidth robust torque and active impedance control which induces high-noise issues even if high-end sensors are used. To address these issues, a complete controller design scheme, including Field-Oriented Control (FOC) of a Brushless Direct Current (BLDC) motor, is proposed. In this paper, controller designs for controlling the virtual impedance, motor torque and field are proposed which enables high-bandwidth robust control. Additionally, a novel speed and angle observer is proposed that aims to reduce noise arising in the angle sensor (typically a 12-bit magnetic encoder) and a Kalman/Luenberger based torque observer is proposed that aims to reduce noise arising in the phase current sensors. Through experimental tests, the combination of the controller designs and observers facilitated a closed-loop torque bandwidth of 2.6 k Hz and a noise reduction of 13.5 dB (in relation to no observers), at a sample rate and Pulse Width Modulation (PWM) frequency of 25 k Hz . Additionally, experiments verified a precise and high performing controller scheme both during impacts and at a variety of different virtual compliance characteristics. View Full-Text
Keywords: proprioceptive control; virtual compliance; field oriented control; high noise attenuation; legged robots; motor control; observer; Kalman filter; torque control; high bandwidth; BLDC proprioceptive control; virtual compliance; field oriented control; high noise attenuation; legged robots; motor control; observer; Kalman filter; torque control; high bandwidth; BLDC
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MDPI and ACS Style

Lund, S.H.J.; Billeschou, P.; Larsen, L.B. High-Bandwidth Active Impedance Control of the Proprioceptive Actuator Design in Dynamic Compliant Robotics. Actuators 2019, 8, 71. https://doi.org/10.3390/act8040071

AMA Style

Lund SHJ, Billeschou P, Larsen LB. High-Bandwidth Active Impedance Control of the Proprioceptive Actuator Design in Dynamic Compliant Robotics. Actuators. 2019; 8(4):71. https://doi.org/10.3390/act8040071

Chicago/Turabian Style

Lund, Simon H.J., Peter Billeschou, and Leon B. Larsen 2019. "High-Bandwidth Active Impedance Control of the Proprioceptive Actuator Design in Dynamic Compliant Robotics" Actuators 8, no. 4: 71. https://doi.org/10.3390/act8040071

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