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Force Control For Electro-Hydraulic Servo Actuator Used For A Humanoid Robotic Arm
Force Control For Electro-Hydraulic Servo Actuator Used For A Humanoid Robotic Arm
Force Control For Electro-Hydraulic Servo Actuator Used For A Humanoid Robotic Arm
Abstract—Due to the great power of hydraulic system of the gearbox torque and the inability to produce an
actuators, the control of electro-hydraulic actuators has been an instantaneous high torque without using a large sized motor.
important and ever developing point of research in the field of The other actuation discipline is using hydraulic power. This
humanoid robots. But due to the non-linearities of the hydraulic
systems, It is very difficult to implement either motion or force technology is characterized by its high power to weight ratio,
controllers on the hydraulic actuators experimentally before high power to volume index, high durability, producing large
the mechanism is modeled and simulated. This is due safety forces at high speeds and its high holding torque serve as
reasons and complex control issues. So, taking into account an interesting factors in humanoid robots actuation. Some of
the humanoid robot HYDROïD, this paper presents the design global known humanoid robots like ATLAS [8], SARCOS[9],
of PID position and force control algorithms, tested on an
electro-hydraulic servo actuator. This actuator is one of the HYQ[10] and the underdevelopment HYDROïD [11] are
actuators present on the robotic arm of HYDROïD. The virtual actuated hydraulically.
model of the system is built through co-simulation between
ADAMS [1] and EASY5 [2] software. The output results were So, in traditional terms, the robot must perform tedious and
later validated using hardware implementation. repetitive tasks with great speed and accuracy [13]. In which,
the repetition of tasks and the controllable environment, the
Index Terms—Humanoid Robot, HYDROïD, Force Control, position and force controlled robotic manipulators should
PID Control, Hydraulic systems.
trace the predefined joint trajectories with ease. Hence,
precise interaction with humans and objects, the desire for a
I. I NTRODUCTION force controlled actuator would be of a great necessity.
For decades, advancement of robots has been proven by
the efforts and aspiration of the human being in making a But unfortunately, the dynamic characteristics of hydraulic
robot to be a real human companion in life [3]. Humanoid actuated systems makes it very difficult for such type of
robots, in particular, can be used in assisting aging humans control, due to the highly non-linear dynamics of such
and children, replacing humans in hazardous environments systems. This makes the force controlled actuators would
and as a test-bed for new prosthesis and or-thesis devices. have always limitations in the form of impedance, friction and
Hence, there have been a constant need for a convenient bandwidth. This limits the traditional linear controllers and
actuator for the joints of humanoid robots enabling a precise makes the electro-hydraulic actuator control a major point of
and powerful actions in addition to a safe and compliance research. However, several strategies have been introduced
motion. to work around the force control deficiencies of the electro-
hydraulic actuator. T. H. Lambert[12] derived the nonlinear
Actuation of the humanoid robots have become one of equations representing the hydraulic servos and showed the
the biggest challenges in robotics. Demanding performances assumptions necessary for linearizing such equations using
in actuation became needed to enhance the autonomy of analog computation. Such work, directed the attention to the
humanoid robots. Within this field, essential and desirable influence of the hydraulic parameters on the nonlinear closed
properties for actuators are required which include: 1) high loop behaviors. After that, Liu[14] proposed a mathematical
power to mass ratio; 2) ability to produce high torque at model for a typical servo system and exposed the nonlinear
low speed; 3) high integrated mechanism as it could occupy parameters with a compensation adaptive algorithm [15].
reduced volume or what can be called high power to volume C.L. Hwang and C.H. Lan [16] succeeded in eliminating
ratio; 4) human-like movements; 5) for safety reasons, the the non-linear behaviors of the hydraulic servo-mechansims
actuator must also ensure active compliance of the robot for through variable structure system controller algorithm. While,
safe interaction with humans [4]. Sohl and Bobrow[17] used a lyapunov derived function as
a controller design methodology to provide a stable force
Nowadays, actuation of humanoid robots depends mainly control with position tracking. In which, the controller
on two disciplines. Electric actuation, which is for humanoid is applied to an existing experimental hydraulic system
robots like LOLA [5], HRP4 [6], and REEM-B [7]. It has providing force and position tracking without the complexity
several advantages as it is low in cost and can be easily of variable structure or adaptive methods.
used and controlled. But its main problem appears while
connecting the electric motor to the load, where the limitation Then, Prut et al.[18] excluded the need for position
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knowledge for applying the force control law by using implementation is presented in section VI, showing the
force, force rate and pressure for force tracking. Finally, system components and the validation of the virtual model
K.Baghestan et al. in [19] proposed a linearized hydraulic and the controller. Finally, section VII is reserved for the
system around an operating point, while the polytopic conclusion and the future work.
uncertainties that emerged were faced by a robust H∞
controller. In general, all of these above advanced methods
improved the quality of force controller in this kind of II. M ATHEMATICAL MODEL OF THE ELECTRO - HYDRAULIC
system. However, the final result was not always the best. SYSTEM
Due to the fact of applying force/torque control on a
This paper deals with the control of the hydraulic actuators hydraulic actuated system, a model based control is required
of the humanoid hydraulic robot HYDROïD [20]. HYDROïD to achieve high dynamic performance. Therefore, knowing
is humanoid robot having 52 degrees of freedom. It is weighs that each joint of the robot arm is coupled by one servo
about 125 Kg and is 1.8 m height. It is the first european valve actuator, the dynamics of this kind of actuator should
robot to have the hydraulic integration technology, in which first be analyzed. These dynamic equations for the hydraulic
the hydraulic oil is transmitted inside the robot parts by system mainly come from the work of Merritt [21]. The
drilling into the mechanical parts. Its main objective is to transfer function between the control current Iin , and the
navigate in rough terrains, assist the elders and interact spool displacement on valve, xv , is given by :
socially with humans. Therefore, the development of a safe
interaction capability for its joints is a necessity. Kv ωn2
xv (s) = Iin (1)
s2 + 2ζωn s + ωn2 xv
Under the mantle of HYDROïD ’s project, A prototype
The control signal applied to the spool valve is directly
of a 7 degree of freedom robotic arm is being developed, in
proportional to the spool position, meaning that the dynamics
which each joint is equipped with one servo valve actuator,
of the valve motor/flapper are fast enough to be neglected.
sharing the same hydraulic source. The pressure and rotation
However, the effects of servovalve dynamics was included by
displacement sensors are attached suitably at each joint, in
other researchers [17] but in this case, it requires an additional
order to send the necessary feedback information to the
sensor to obtain the spool position and only minimal perfor-
controller. While, the geometrical and kinematics models are
mance improvement is achieved for position tracking. So, the
solved, an inverse dynamic model is needed to estimate the
flow is related to the spool valve displacement, neglecting the
force required for each actuator. Therefore, a force controller
leakage, can be described as :
is needed on the hydraulic actuators fixed at the joints to
ensure the right positioning of hydraulic actuator with the (
right torque. p Ps − P1 , xv ≥ 0
Q1 = k1 xv ∆P1 , ∆P1 =
P1 − Pr , xv < 0
But implementing the controller algorithms on the arm
prototype directly may have some problems. As the highly (
p P2 − Pr , xv ≥ 0
non-linear system and the powerful capacity of the hydraulic Q2 = k2 xv ∆P2 , ∆P2 =
actuator makes it very dangerous to apply directly the Ps − P2 , xv < 0
experimental controller to the prototype. Moreover, before Where k1 , k2 are the flow gain coefficients of the valve;
applying the controller algorithms on the arm prototype Ps and Pr are the supply pressure of the hydraulic oil and
directly, all the tasks should be built and simulated in the the tank pressure, respectively.
simulation software to ensure precision. Therefore, a linear
actuator test bench was developed for one degree of freedom As can be seen from the equations (2) and (3), the pres-
of motion and it is used for elementary implementation surized flow provided by the servo valve can be decomposed
subject. Where, the proposed force algorithm to be tested in three components: a flow generated by the displacement of
and verified with the a virtual model built in EASY5 and the piston, a flow induced by the compression of the oil in the
ADAMS software. actuator chamber, and a flow due to leakage in the actuator.
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III. T HE KINEMATICS OF THE ARM MECHANISM Fig. 2. The arm mechanism coordinate frame.
cos qi 0 sin qi
Qi+1 = Qi = ... = Q7 = sin qi 0 − cos qi (8)
i
0 1 0
0
d1 = d2 = d4 = d6 = 0 (9)
0
Fig. 1. The arm mechanism rigid model. The Base frame axis are denoted
Xr , Yr and Zr while the end effector frame axis are denoted Xe , Ye and l1 cos q3
Ze
d3 = l1 sin q3 (10)
0
A. Geometrical Model 0
d5 = 0 (11)
The kinematics of serial manipulators begins with the study
of the geometric relations between the joint variables, with −l2
one variable per joint. A seven axis manipulator, like the one
displayed in Fig. 2 has seven joint variables, q1 , q2 ,q3 ..... l3 cos q7
qn . Denavit-Hartenberg notation was calculated and shown in d7 = l3 sin q7
(12)
Fig. 2.
0
Here, the transformation from frame Ri+1 to frame Ri is
represented by matrix Tii+1 , as: B. Kinematic Model
" # Based on the general case of of a serial revolute axis
i+1 Qi+1
i di+1
i manipulator seen in Fig.3, the angular velocity of the end
Ti = Ti = (5)
0 1 effector can be described as :
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q˙1
h i q˙2
0
wn+1 = e1 e2 .... en (13)
....
q˙n
q˙1
Fig. 3. Serial n-revolute axis manipulator
h i q˙
0 2
Vn+1 = e1 Xr1 e2 Xr2 .... en Xrn (14)
....
IV. T HE INVERSE DYNAMIC MODEL
q˙n
Robot dynamics is the study of the relationship between
Where, ri = di + di+1 + .... + dn . From both equation 15 the applied forces/torques and the resulting motion of the
and equation 14, the linear and the velocity of the end effector manipulator. Similarly to kinematics, also for the dynamics
are represented as : it is possible to define direct and inverse model. The direct
dynamic model is that once the forces/torques applied to the
joints knowing the joint positions and velocities, the joint
q˙1
" # accelerations Rcan be computed as: q̈ = f (q,q̇,τ ) and then q̇ =
e1 e2 .... en q˙ R
0 0
2 q̈ dt , q = q̇ dt.
wn+1 Vn+1 =
e1 Xr1 e2 Xr2 .... en Xrn ....
q˙n On the other hand, the inverse dynamic model is that once
(15) the joint accelerations, velocities and positions are known,
the corresponding forces/torques can be computed as : τ =
Where, the jacobian matrix can be described as J6xn which f −1 (q,q̇, q̈) = g(q,q̇, q̈).
equals :
The main goal is to derive the dynamic model in short time.
" # The number of link and joints in the kinematic chain, the
e1 e2 .... en topology of the chain (e.g. serial or parallel), the position and
J6Xn = (16)
e1 Xr1 e2 Xr2 .... en Xrn orientation of the coordinate frames, and whether a recursive
procedure is used or not, are factors that influence the
Therefore, the direct kinematic model of the manipulator is computation time. The Newton/Euler formulation is usually
defined as : the preferred choice for manipulators with many degrees
of freedom. The reason is the recursive structure which the
Newton/Euler formulation is based on. If the frames are
q˙1
" # attached in a convenient way, the recursions will be greatly
e1 e2 .... en q˙
2 simplified. In this study, the Newton/Euler formulation is
= J6Xn (17)
used to solve the inverse dynamic model.
e1 Xr1 e2 Xr2 .... en Xrn ....
q˙n
q˙1
" #
q˙ e1 e2 .... en
2 −1
= J6Xn (18)
.... e1 Xr1 e2 Xr2 .... en Xrn
q˙n
−1
Where, J6Xn is denoted as inverse jacobian matrix. Which
is used to calculate the angular velocity of each joint from the
known velocities of the end effector. Fig. 4. Analytical schematic of serial links dynamics
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X
f =m×a (19)
link
X
τ = ω × (Iω) + I ω̇ (20) Fig. 5. Block diagram showing the co-simulation of arm mechanism using
link ADAMS and EASY5
So, in order to calculate the kinematic and the dynamic
models for the case of 7 DOF arm mechanism are concluded Parameter Value Unit
as follows :
Ps 50 bar
ωi = ωi−1 + ωii−1 (21) Iin ±15 mA
β 1.5 GP a
Pa 1 bar
A1 0.0025 m2
αi = αi−1 + αii−1 + ωi−1 × ωii−1 (22)
A2 0.00125 m2
Q 6.666 ∗ 10− 5 m3 /s
ζ 0.8 −
me,i = me,i−1 × rei−1,ei + ωi × (ωi × rei−1,ei ) (23) m 20 Kg
ωn 30 rad/s
c 3000 N.s/m
µ 300 N.s/m
mc,i = me,i−1 + αi × rei−1,ci + ωi × (ωi × rei−1,ci ) (24) K 1000 N/m
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4) Saturation group:
Its function is to limit the control voltage signal from
the controller in the suitable range. And the saturation
limits are −15v and 15v
Fa = Fp − Fs − Fd − Ff (25)
A. Position control
In spite of the fact that a force control is to be performed
to the system, Acceptable position tracking should be also
Fig. 8. Configuration of servo valve actuator in EASY5r achieved. As the robot needs to perform a trajectory in
certain directions while a precise control of the force is
So, a new closed loop is built in EASY5r . This closed loop required in the same time. This means that in all other
(seen in Fig.9), Where it can be divided into 6 main groups : directions (and orientations), the robot needs to perform a
1) Actuator group: standard, programmed position trajectory. Therefore, in real
The servo valve controls the pressurized flows into applications, force control is in fact an hybrid force/position
and out of the actuator, moving the piston, while the control for which the joint torques are computed using two
spring represents the external force on the actuator. The references [17]. On top of that, the control scheme needs to
valve receives the pressurized flow from the hydraulic be dynamically changed between two operations. Therefore a
system (maximum rated pressure Pmax = 210bars) proper position control should be shown for the piston before
and the control current signal from Group 5 (maximum applying the algorithms of force control.
input current Imax = 15m.A), while the actuator and
spring can give the measured feedback values for the A PID control block was added to the proposed model.
controller in Group 2 and 3. Where its gains are added to the simulated system using
Zieglar Nichols tuning method to examine the system
2) Error group: response. Several simulations were performed with various
It generates the error from the difference of the input trajectories to determine the desired position. As a
reference value and the measured feedback value. result of such simulation, the desired trajectory is tracked
with minimum errors with gains Kp = 0.4, Ki = 0.08 and
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Kd = 1 as shown in Fig.10.
B. Force control
As previously mentioned in section III-A, robotic
manipulators are modeled as a rigid body systems with
torques as its primary input. So, in order to achieve high
control performance, A controlled torque source is required
for each joint of the rigid body system.
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be compared with the model simulation and find out the robot. Proceedings of the Institution of Mechanical En-
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Also, the addition of the new integrated electro-hydraulic 16, DOI: 10.1007/s10846-017-0750-z
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