Simulations and Experiments on the Force Control of Hydraulic Servo System for Hydraulic Robots

Hyo Gon Kim; Jong Won Lee; Yong Ho Choi; Jeong Woo Park; Jin Ho Suh

doi:10.4028/www.scientific.net/AMM.826.128

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 826Simulations and Experiments on the Force Control...

Simulations and Experiments on the Force Control of Hydraulic Servo System for Hydraulic Robots

Abstract:

Because hydraulic actuator has higher power and force density, it is normally used in heavy load manipulator robots and industrial equipment which require high torque. Also, the hydraulic actuator is applied to underwater robots that need high performance maneuver in underwater operations. The force control has benefits to those kind of robots to ensure compliance with user or environment. However, the hydraulic actuator is difficult to control forces due to the non-linearity characteristic of the hydraulic servo system. In this paper, we propose a force control method with compensation of force derivative and natural velocity feedback. We also describe a method of applying it to the real system. In order to evaluate the effect of the proposed control method, the simulations and experiments were performed.

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Periodical:

Applied Mechanics and Materials (Volume 826)

Pages:

128-133

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.826.128

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Online since:

February 2016

Authors:

Hyo Gon Kim*, Jong Won Lee, Yong Ho Choi, Jeong Woo Park, Jin Ho Suh

Keywords:

Force Control, Hydraulic Robot, Hydraulic Servo System, Servo Valve

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