A model-based impedance control scheme for high-performance hydraulic joints

摘要

Impedance control of a hydraulic servoactuator joint system is discussed. Impedance control imparts a desired behavior to a system, rather than controlling position or force individually. Due to nonlinear properties of hydraulic actuators, impedance control is difficult. The control strategy presented involves a combined feedforward and feedback control. An impedance filter modifies a desired trajectory according to a specified behavior.