Proceedings of the KSME Conference (대한기계학회:학술대회논문집)
- 2004.11a
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- Pages.708-713
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- 2004
Development of Sensorless Hydraulic Servo System for Underwater Harbor Construction
수중항만공사용 로봇의 센서리스 유압 서보 시스템 개발
Abstract
This research develops a sensorless hydraulic servo system of Parallel-Typed robot for harbour construction. Purpose of the robot is to mechanize the construction, which is accomplished through a joystick's operating by a stoneworker (or diver). The robot is attached on the end of an excavator as its attachment or transported by a crane to reach the desired place. The embedded compact controller is installed on the robot body and controlled by wireless telecommunication. For underwater work, it is necessary to waterproof the robot and its sensors. Especially, a sensor waterproof is a main drawback for the underwater robot. This leads us to develop a hydraulic robot position controller using an observer which gives the position information without any position sensor. We design a neural network to identify the displacement change according to the command voltage to servo valve. To verify the sensorless controller, this paper presents the performance of the sensorless control for which the position is given by the observer comparing with that of the sensor control for which the position is measured by LVDT sensors.
Keywords
- Armor stone;
- Excavator;
- Harbor construction;
- Parallel-Typed robot;
- Sensorless Hydraulic Servo System
- 피복석;
- 굴삭기;
- 항만공사;
- 병렬기구형 로봇;
- 센서리스 유압 서보 시스템;