Low-Level Force-Control of MR-Hydrostatic Actuators
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Precise and high-fidelity force control is critical for new generations of robots that interact with humans and unknown environments. Mobile robots, such as wearable devices and legged robots, must also be lightweight to accomplish their function. Hydrostatic transmissions have been proposed as a promising strategy for meeting these two challenging requirements. In previous publications, it was shown that using magnetorheological (MR) actuators coupled with hydrostatic transmissions provides high power density and great open-loop human-robot interactions. Still, the open-loop force fidelity at low and high frequencies are decreased by the transmission's dynamics and by nonlinear friction. This letter compares control strategies for MR-hydrostatic actuator systems to increase its torque fidelity, defined as the bandwidth (measured vs desired torque reference) and transparency (minimizing the undesired forces reflected to the end effector when backdriving the robot). Four control approaches are developed and compared experimentally: (1) Open-loop control with friction compensation; (2) non-collocated pressure feedback; (3) collocated pressure feedback; (4) LQGI state feedback. A dither strategy is also implemented to smoothen ball screw friction. Results show that approaches (1), (2) and (3) can increase the performances but are facing compromises, while approach (4) can simultaneously improve all metrics. These results show the potential of using control schemes for improving the force control performance of robots using tethered architectures, addressing issues such as transmission dynamics and friction.
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