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RESEARCH PRODUCT

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

Damiano Padovani

subject

0209 industrial biotechnologyComputer science020209 energyLinear systemRobot manipulatorPressure feedback02 engineering and technologyElectro hydraulicAcceleration020901 industrial engineering & automationControl theory0202 electrical engineering electronic engineering information engineeringHydraulic machineryEfficient energy use

description

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.

yearjournalcountryeditionlanguage
2020-11-202020 5th International Conference on Robotics and Automation Engineering (ICRAE)
https://doi.org/10.1109/icrae50850.2020.9310881