Adding Active Damping to Energy-Efficient Electro-Hydraulic Systems for Robotic Manipulators-Comparing Pressure and Acceleration Feedback

Damiano Padovani*

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

The growing interest in energy efficiency, plug-and-play commissioning, and reduced maintenance for heavy-duty robotic manipulators directs towards self-contained, electro-hydraulic cylinders. These drives are characterized by extremely low damping that causes unwanted oscillations of the mechanical structure. Adding active damping to this class of energy-efficient architectures is essential. Hence, this paper bridges a literature gap by presenting a systematic comparison grounded on a model-based tuning of both pressure and acceleration feedback. It is shown that both approaches increase the system damping hugely and improve the performance of the linear system. Acceleration feedback should be preferred since it only modifies the damping. However, high-pass-filtered pressure feedback can represent a satisfactory alternative.

Original languageEnglish
Title of host publication2020 5th International Conference on Robotics and Automation Engineering, ICRAE 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages175-181
Number of pages7
ISBN (Electronic)9781728189819
DOIs
StatePublished - 20 Nov 2020
Externally publishedYes
Event5th International Conference on Robotics and Automation Engineering, ICRAE 2020 - Virtual, Singapore, Singapore
Duration: 20 Nov 202022 Nov 2020

Publication series

Name2020 5th International Conference on Robotics and Automation Engineering, ICRAE 2020

Conference

Conference5th International Conference on Robotics and Automation Engineering, ICRAE 2020
Country/TerritorySingapore
CityVirtual, Singapore
Period20/11/2022/11/20

Keywords

  • acceleration feedback
  • electro-hydraulic systems
  • energy efficiency
  • pressure feedback
  • robotic manipulators

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