Every manipulator contact task that begins with a transition from free motion to constraint motion may exhibit impacts that could drive the system unstable. Stabilization of manipulators during this transition is, therefore, an important issue in contact task control design. This paper presents a discontinuous controller to regulate the transition mode in hydraulic actuators. The controller, upon sensing a nonzero force, positions the actuator at the location where the force was sensed, thus, exerting minimal force on a nonmoving environment. The scheme does not require force or velocity feedback as they are difficult to measure throughout the short transition phase. Also, no knowledge about the environment or hydraulic parameters is required for control action. Due to the discontinuity of the control law, the control system is nonsmooth. First, the existence, continuation and uniqueness of Filippov’s solution to the system are proven. Next, the extension of Lyapunov stability theory to nonsmooth systems is employed to guarantee the global asymptotic convergence of the entire system’s state towards the equilibrium point. Complete dynamic characteristics of hydraulic functions and Hertz-type contact model are included in the stability analysis. Experiments are conducted to verify the practicality and effectiveness of the proposed controller. They include actuator collisions with hard and soft environments and with various approach velocities.
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e-mail: nariman@cc.umanitoba.ca
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June 2005
Technical Papers
Impact Control in Hydraulic Actuators
P. Sekhavat,
P. Sekhavat
Graduate Research Fellow
Experimental Robotics and Teleoperation Laboratory, Department of Mechanical and Manufacturing Engineering,
The University of Manitoba
, Winnipeg, Manitoba R3T 5V6, Canada
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Q. Wu,
Q. Wu
Associate Professor
Experimental Robotics and Teleoperation Laboratory, Department of Mechanical and Manufacturing Engineering,
The University of Manitoba
, Winnipeg, Manitoba R3T 5V6, Canada
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N. Sepehri
N. Sepehri
Professor
Member ASME
Experimental Robotics and Teleoperation Laboratory, Department of Mechanical and Manufacturing Engineering,
e-mail: nariman@cc.umanitoba.ca
The University of Manitoba
, Winnipeg, Manitoba R3T 5V6, Canada
Search for other works by this author on:
P. Sekhavat
Graduate Research Fellow
Experimental Robotics and Teleoperation Laboratory, Department of Mechanical and Manufacturing Engineering,
The University of Manitoba
, Winnipeg, Manitoba R3T 5V6, Canada
Q. Wu
Associate Professor
Experimental Robotics and Teleoperation Laboratory, Department of Mechanical and Manufacturing Engineering,
The University of Manitoba
, Winnipeg, Manitoba R3T 5V6, Canada
N. Sepehri
Professor
Member ASME
Experimental Robotics and Teleoperation Laboratory, Department of Mechanical and Manufacturing Engineering,
The University of Manitoba
, Winnipeg, Manitoba R3T 5V6, Canadae-mail: nariman@cc.umanitoba.ca
J. Dyn. Sys., Meas., Control. Jun 2005, 127(2): 197-205 (9 pages)
Published Online: October 25, 2004
Article history
Received:
October 10, 2002
Revised:
October 25, 2004
Citation
Sekhavat, P., Wu, Q., and Sepehri, N. (October 25, 2004). "Impact Control in Hydraulic Actuators." ASME. J. Dyn. Sys., Meas., Control. June 2005; 127(2): 197–205. https://doi.org/10.1115/1.1898231
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