Study on Control Method for a Robotic Rotary Hydraulic Actuator
Peng Gao, Anye Ren
Available Online June 2017.
- https://doi.org/10.2991/icmia-17.2017.68How to use a DOI?
- Robot, Hydraulic Servo Actuator, Control Method.
- 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.
- Open Access
- This is an open access article distributed under the CC BY-NC license.
Cite this article
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 - https://doi.org/10.2991/icmia-17.2017.68 ID - Gao2017/06 ER -