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[CN 202210572595.2] Adaptive Impedance Control System for Contact Operation of Hydraulic Manipulator without End Force Sensor
[CN 202210572595.2] Title of Adaptive Impedance Control System for Contact Operation of Hydraulic Manipulator without End Force Sensor: Application Number of Adaptive Impedance Control System for Contact Operation of Hydraulic Manipulator without End Force Sensor: CN 202210572595.2 Applicant: Application Date of East China Jiaotong University: 2022-5-25 Patent Type: Application of the Invention The present invention discloses an adaptive impedance control system for contact operation of hydraulic manipulator without end force sensor. The control system includes two loops: the inner loop uses a model-based controller (MBC) to compensate for the nonlinear dynamics of the hydraulic manipulator to achieve accurate position tracking of the end; the outer loop includes a position-based impedance controller and a force error compensator based on model reference adaptive control to achieve active compliance and high-precision force tracking control adaptive to unknown environmental changes.
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