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

Bilodeau, G; Papadopoulos, E

dc.contributor.author	Bilodeau, G	en
dc.contributor.author	Papadopoulos, E	en
dc.date.accessioned	2014-03-01T02:48:35Z
dc.date.available	2014-03-01T02:48:35Z
dc.date.issued	1998	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/33926
dc.subject	Actuator Saturation	en
dc.subject	Control Strategy	en
dc.subject	Dynamic Positioning	en
dc.subject	Dynamic Simulation	en
dc.subject	Feedback Control	en
dc.subject	Feedback Loop	en
dc.subject	High Performance	en
dc.subject	Hydraulic Actuator	en
dc.subject	Impedance Control	en
dc.subject	Reduced Order Model	en
dc.subject	Smooth Transition	en
dc.title	A model-based impedance control scheme for high-performance hydraulic joints	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/IROS.1998.727480	en
heal.identifier.secondary	http://dx.doi.org/10.1109/IROS.1998.727480	en
heal.publicationDate	1998	en
heal.abstract	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.	en
heal.journalName	International Conference on Intelligent Robots and Systems	en
dc.identifier.doi	10.1109/IROS.1998.727480	en