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http://dx.doi.org/10.3795/KSME-A.2015.39.2.219

Study on Characteristics of Hydraulic Servo System for Force Control of Hydraulic Robots  

Kim, Hyo-Gon (Dept. of Mechatronics Engineering, Hanyang Univ.)
Lee, Jong-Won (Dept. of Intelligent Robot Engineering, Korea Univ. of Science and Technology (UST))
Park, Sangdeok (Korea Institute of Industrial Technology (KITECH))
Han, Changsoo (Dept. of Robot Engineering, Hanyang Univ.)
Publication Information
Transactions of the Korean Society of Mechanical Engineers A / v.39, no.2, 2015 , pp. 219-225 More about this Journal
Abstract
Because a hydraulic actuator has high power and force densities, this allows the weight of the robot's limbs to be reduced. This allows for good dynamic characteristics and high energy efficiency. Thus, hydraulic actuators are used in some exoskeleton robots and quadrupedal robots that require high torque. Force control is useful for robot compliance with a user or environment. However, force control of a hydraulic robot is difficult because a hydraulic servo system is highly nonlinear from a control perspective. In this study, a nonlinear model was used to develop a simulation program for a hydraulic servo system consisting of a servo valve, transmission lines, and a cylinder. The problems and considerations with regard to the force control performance for a hydraulic servo system were investigated. A force control method using the nonlinear model was proposed, and its effect was evaluated with the simulation program.
Keywords
Hydraulic Servo System; Servo Valve; Force Control; Hydraulic Robot;
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