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Robust Control of a 6-Link Electro-Hydraulic Manipulator using Parallel Feed forward Compensator  

안경관 (울산대학교 기계자동차공학부)
정연오 (동경공업대학정밀기계시스템 대학원)
Publication Information
Journal of the Korean Society for Precision Engineering / v.20, no.3, 2003 , pp. 89-96 More about this Journal
Abstract
An electro-hydraulic manipulator using hydraulic actuators has many nonlinear abetments, and its parameter fluctuations are greater than those of an electrically driven manipulator. So it is relatively difficult to realize not only stable but also accurate trajectory control for the autonomous assembly tasks using hydraulic manipulators. In this report, we propose a two-degree-of-freedom control including parallel feedforward compensator (PFC) where PFC plays a very important role in the stability of a proposed control system. In the experimental results of the 6-link electro hydraulic manipulator, it is verified that the stability and the model matching performance are improved by using the proposed control method.
Keywords
Fluid Power Systems; Rust Control; Hydraulic Manipulators; 2DOF Control; Parallel Feedforward Compensator;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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