Study on Control Method for a Robotic Rotary Hydraulic Actuator

DOI

10.2991/icmia-17.2017.68How to use a DOI?

Keywords

Robot, Hydraulic Servo Actuator, Control Method.

Abstract

In this work, we proposed the control method for a robotic rotary hydraulic actuator. We have designed and fabricated some prototypes of rotary hydraulic actuators. Because of valve dead zone, load disturbance and variable hydraulic pressure, the simplex PID method can't meet the control complexity. In order to improve the servo accuracy, we proposed an adaptive control method. The valve dead zone is indentified by the output feedback of the rotary actuator; the load torque is considered as the random disturbance; the good control performance and robustness are obtained by adaptive function control according to the hydraulic pressure. In the future work, we will finish a 6-Dof robot arm equipped with the rotary hydraulic joints, and further test the dynamic characteristics of the rotary hydraulic actuator.

Copyright

© 2017, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Peng Gao
AU  - Anye Ren
PY  - 2017/06
DA  - 2017/06
TI  - Study on Control Method for a Robotic Rotary Hydraulic Actuator
BT  - Proceedings of the 2017 6th International Conference on Measurement, Instrumentation and Automation (ICMIA 2017)
PB  - Atlantis Press
SP  - 370
EP  - 374
SN  - 1951-6851
UR  - https://doi.org/10.2991/icmia-17.2017.68
DO  - 10.2991/icmia-17.2017.68
ID  - Gao2017/06
ER  -