Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Robust Force Control of a 6-Link Electro-Hydraulic Manipulator

전기 유압 매니플레이터의 강건 힘 제어

  • Ahn, Kyoung-Kwan (Dept.of Mechanical Automotive Engineering, University of Ulsan) ;
  • Cho, Yong-Rae (Dept.of Mechanical Automotive Engineering, Graduate School of University of Ulsan) ;
  • Yang, Soon-Yong (Dept.of Mechanical Automotive Engineering, University of Ulsan) ;
  • Lee, Byung-Ryong (Dept.of Mechanical Automotive Engineering, University of Ulsan)
  • 안경관 (울산대학교 기계자동차공학부) ;
  • 조용래 (울산대학교 기계자동차공학부 대학원) ;
  • 양순용 (울산대학교 기계자동차공학부) ;
  • 이병룡 (울산대학교 기계자동차공학부)
  • Published : 2002.04.01
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Abstract

An electro-hydraulic manipulator using hydraulic actuators has many nonlinear elements, and its parameter fluctuations are greater than those of an electrically driven manipulator. So it is relatively difficult to realize not only stable contact work but also accurate force control for the autonomous assembly tasks using hydraulic manipulators. In this report, we applied a compliance control which is based on the position control by a disturbance observer for our manipulator system. And a reference trajectory modification method is proposed in order to achieve accurate force control even though the stiffness and position of environment change. Experimental results show that highly robust force tracking by a 6-link electro-hydraulic manipulator could be achieved under various environment conditions.

Keywords

References

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