Development of Admittance Control Method with Parameter Self-optimization for Hydraulic Series Elastic Actuator

다국어 초록 (Multilingual Abstract)

Series elastic actuators (SEAs) have emerged as promising devices to enhance the safety of human-robot interactions in the manufacturing industry. However, the control of a hydraulic SEA under disturbance remains an unexplored issue. To address this problem, an admittance control method with parameter self-optimization is developed in this study. The hydraulic SEA and its dynamic model are first developed, and then, an admittance controller that combines a passive disturbance observer (DOB) and a feedback compensator is developed based on load movement dynamics. The control law of the framework is made independent of the hydraulic dynamics by considering the uncertainty and tracking error as disturbances. This simplifies the controller computation, enhances system robustness, and facilitates practical application. Next, the control performance is further improved by optimizing the control parameters using an improved crowding-based dynamic population size differential evolution (crowdingbased dynNP-DE) algorithm. Benchmark and optimization experiments are performed to verify the superiority of the modified algorithm and obtain the control parameters. Finally, the optimized parameters are applied to practical experiments to validate the improved performance of the proposed admittance control scheme. The results show that the proposed method effectively reduces the SEA stiffness tracking error, with respect to the external contact force.

참고문헌 (Reference)

1 M. C. Yildirim, "Wearable Robotics: Challenges and Trends. WeRob 2018. Biosystems & Biorobotics, vol 22" 70-74, 2018

2 Z. Chu, "Variable stiffness control and implementation of hydraulic SEA based on virtual spring leg" 677-682, 2016

3 V. Chawda, "Toward torque control of a KUKA LBR IIWA for physical human-robot interaction" 6387-6392, 2017

4 V. Villani, "Survey on human-robot collaboration in industrial settings : Safety, intuitive interfaces and applications" 55 : 248-266, 2018

5 J. Brest, "Self-adapting control parameters in differential evolution : A comparative study on numerical benchmark problems" 10 (10): 646-657, 2006

6 S. H. Ding, "Second-order sliding mode controller design subject to mismatched term" 77 : 388-392, 2017

7 E. Bolívar, "Robust optimal design of energy efficient series elastic actuators : Application to a powered prosthetic ankle" 740-747, 2019

8 Y. Fu, "Research on impedance control based on force servo for single leg of hydraulic legged robot" 1591-1596, 2017

9 Y. Chae, "Real-time force control for servo-hydraulic actuator systems using adaptive time series compensator and compliance springs" 47 (47): 854-871, 2018

10 Y. Shi, "Potential applications of 5G communication technologies in collaborative intelligent manufacturing" 1 (1): 109-116, 2019

11 J. Brest, "Population size reduction for ˇthe differential evolution algorithm" 29 (29): 228-247, 2008

12 N. L. Tagliamonte, "Passivity constraints for the impedance control of series elastic actuators" 228 (228): 138-153, 2014

13 Soufiene Bouallègue, "Particle Swarm Optimization-Based Fixed-Structure H_∞ Control Design" 제어·로봇·시스템학회 9 (9): 258-266, 2011

14 Riaz Uddin, "Parametric Sensitivity Analyses for Perceived Impedance in Haptic Teleoperation" 제어·로봇·시스템학회 17 (17): 2083-2096, 2019

15 M. A. Sharbafi, "Parallel compliance design for increasing robustness and efficiency in legged locomotion–Proof of concept" 24 (24): 1541-1552, 2019

16 F. Sergi, "On the stability and accuracy of high stiffness rendering in non-backdrivable actuators through series elasticity" 26 : 64-75, 2015

17 P. Cheng, "Observer-based finite-time asynchronous control for a class of hidden Markov jumping systems with conic-type non-linearities" 14 (14): 244-252, 2019

18 P. Cheng, "Observer-based asynchronous fault detection for conictype nonlinear jumping systems and its application to separately excited DC motor" 67 (67): 951-962, 2020

19 S. Behbahani, "Niching genetic scheme with bond graphs for topology and parameter optimization of a mechatronic system" 19 (19): 269-277, 2014

20 R. Thomsen, "Multimodal optimization using crowdingbased differential evolution" 2 : 1382-1389, 2004

21 E. Akdogan, "Knee rehabilita-˘tion using an intelligent robotic system" 20 (20): 195-, 2009

22 N. Banka, "Iterative machine learning for precision trajectory tracking with series elastic actuators" 234-239, 2018

23 S. Zhang, "Integrated process planning and scheduling : An enhanced ant colony optimization heuristic with parameter tuning" 29 (29): 585-601, 2018

24 A. Calanca, "Impedance control of series elastic actuators based on well-defined force dynamics" 96 : 81-92, 2017

25 A. Calanca, "Impedance control of series elastic actuators : Passivity and accelerationbased control" 47 : 37-48, 2017

26 Y. Zhao, "Impedance control and performance measure of series elastic actuators" 65 (65): 2817-2827, 2018

27 D. H. Kim, "Hysteresis modeling for torque control of an elastomer series elastic actuator" 24 (24): 1316-1324, 2019

28 Task Committee on Hydraulic Modeling, Environmental and Water Resources Institute, "Hydraulic Modeling: Concepts and Practice"

29 H. Yu, "Humanrobot interaction control of rehabilitation robots with series elastic actuators" 31 (31): 1089-1100, 2015

30 S. Oh, "High-precision robust force control of a series elastic actuator" 22 (22): 71-80, 2017

31 W. Dong, "GA-based modified DH method calibration modelling for 6-DOFs serial robot" 225-230, 2016

32 J. E. Colgate, "Factors affecting the ZWidth of a haptic display" 4 : 3205-3210, 1994

33 S. Mirjalili, "Dragonfly algorithm : A new meta-heuristic optimization technique for solving single-objective, discrete, and multi-objective problems" 27 (27): 1053-1073, 2016

34 M. J. Kim, "Disturbance-observer-based PD control of flexible joint robots for asymptotic convergence" 31 (31): 1508-1516, 2015

35 S. H. Ding, "Disturbance observer design for nonlinear systems represented by input-output models" 67 (67): 1222-1232, 2020

36 S. Yoo, "Development of rotary hydro-elastic actuator with robust internal-loop-compensator-based torque control and crossparallel connection spring" 43 : 112-123, 2017

37 H. Kaminaga, "Development of high-power and backdrivable linear electro-hydrostatic actuator" 973-978, 2014

38 Y. Park, "Development of force observer in series elastic actuator for dynamic control" 65 (65): 2398-2407, 2018

39 N. T. Fitter, "Designing and assessing expressive open-source faces for the Baxter robot, Social Robotics" Lecture Notes in Computer Science 9979 : 340-350, 2016

40 이희돈, "Design of a Series Elastic Tendon Actuator Based on Gait Analysis for a Walking Assistance Exosuit" 제어·로봇·시스템학회 17 (17): 2940-2947, 2019

41 E. Garcia, "Design and development of a biomimetic leg using hybrid actuators" 1507-1512, 2011

42 N. Paine, "Design and control considerations for high-performance series elastic actuators" 19 (19): 1080-1091, 2014

43 G. Wyeth, "Demonstrating the safety and performance of a velocity sourced series elastic actuator" 3642-3647, 2008

44 Y. Lin, "Decoupled torque control of series elastic actuator with adaptive robust compensation of time-varying load-side dynamics" 67 (67): 5604-5614, 2020

45 G. Wyeth, "Control issues for velocity sourced series elastic actuators" Australian Robotics and Automation Association Inc 1-6, 2006

46 H. Vallery, "Compliant actuation of rehabilitation robots" 15 (15): 60-69, 2008

47 P. Cheng, "Asynchronous output feedback control for a class of conic-type nonlinear hidden Markov jump systems within a finite-time interval" 1-8, 2020

48 W. F. Rampeltshammer, "An improved force controller with low and passive apparent impedance for series elastic actuators" 25 (25): 1220-1230, 2020

49 T. Chen, "An elbow exoskeleton for upper limb rehabilitation with series elastic actuator and cable-driven differential" 35 (35): 1464-1474, 2020

50 E. Sariyildiz, "An acceleration-based robust motion controller design for a novel series elastic actuator" 63 (63): 1900-1910, 2016

51 Ramazan Havangi, "An Optimization based Method for Simultaneous Localization and Mapping" 제어·로봇·시스템학회 12 (12): 823-832, 2014

52 A. Q. L. Keemink, "Admittance control for physical human-robot interaction" 37 (37): 1421-1444, 2018

53 N. Paine, "Actuator control for the NASA-JSC Valkyrie humanoid robot : A decoupled dynamics approach for torque control of series elastic robots" 32 (32): 378-396, 2015

54 D. P. Losey, "A time-domain approach to control of series elastic actuators : Adaptive torque and passivity-based impedance control" 21 (21): 2085-2096, 2016

55 S. Ghidini, "A robust linear control strategy to enhance damping of a series elastic actuator on a collaborative robot" 98 (98): 627-641, 2020

56 Kaixian Ba, "A Nonlinear Model-based Variable Impedance Parameters Control for Position-based Impedance Control System of Hydraulic Drive Unit" 제어·로봇·시스템학회 18 (18): 1806-1817, 2020