Abstract Aimed at the negative effect of dynamics characteristics of leg hydraulic drive system (LHDS) on the accuracy of motion control of the hydraulic drive legged robot, a dynamics compensation control method is proposed. First, according to the mechanical structure of LHDS, the kinematics and statics models of LHDS are analyzed and obtained respectively. Based on the principle of force-based impedance control of LHDS, an impedance based motion control simulation model of LHDS is built and analyzed. The simulation results show that the dynamics characteristics have a great influence on the accuracy of impedance based motion control. Then, a dynamics compensation method considering gravity and inertia force is proposed to solve this problem. Finally, the effect of the dynamics compensation method is verified on the robot single leg test platform. The experimental results show that the compensation method reduces the negative effect of the dynamics characteristics of LHDS on impedance based motion control accuracy, and the position tracking accuracy of the robot’s foot end can be improved by more than 65%. The theory proposed in this paper provides a theoretical basis for the motion control of the whole robot prototype.

中文翻译：

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基于阻抗的腿式机器人LHDS运动控制的动力学补偿

摘要 针对腿液压驱动系统(LHDS)的动力学特性对液压驱动腿机器人运动控制精度的负面影响，提出了一种动态补偿控制方法。首先，根据LHDS的机械结构，分别分析得到LHDS的运动学和静力学模型。基于LHDS基于力的阻抗控制原理，建立并分析了LHDS基于阻抗的运动控制仿真模型。仿真结果表明，动力学特性对基于阻抗的运动控制精度有很大影响。然后，提出了一种考虑重力和惯性力的动力学补偿方法来解决这个问题。最后，在机器人单腿测试平台上验证了动力学补偿方法的效果。实验结果表明，该补偿方法减少了LHDS的动力学特性对基于阻抗的运动控制精度的负面影响，机器人足端的位置跟踪精度可提高65%以上。本文提出的理论为整个机器人样机的运动控制提供了理论依据。