TY - GEN
T1 - Adding Active Damping to Energy-Efficient Electro-Hydraulic Systems for Robotic Manipulators-Comparing Pressure and Acceleration Feedback
AU - Padovani, Damiano
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/11/20
Y1 - 2020/11/20
N2 - 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.
AB - 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.
KW - acceleration feedback
KW - electro-hydraulic systems
KW - energy efficiency
KW - pressure feedback
KW - robotic manipulators
UR - http://www.scopus.com/inward/record.url?scp=85100335467&partnerID=8YFLogxK
U2 - 10.1109/ICRAE50850.2020.9310881
DO - 10.1109/ICRAE50850.2020.9310881
M3 - 会议稿件
AN - SCOPUS:85100335467
T3 - 2020 5th International Conference on Robotics and Automation Engineering, ICRAE 2020
SP - 175
EP - 181
BT - 2020 5th International Conference on Robotics and Automation Engineering, ICRAE 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 5th International Conference on Robotics and Automation Engineering, ICRAE 2020
Y2 - 20 November 2020 through 22 November 2020
ER -
