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Design of Torque Servo for Impedance Control of Double Vane Rotary Hydraulic Actuator System  

Kim, Seon-Min (포항공과대학교 기계공학과)
Choi, Young-Jin (한양대학교 전자정보시스템공학과)
Chung, Wan-Kyun (포항공과대학교 기계공학과)
Publication Information
The Journal of Korea Robotics Society / v.5, no.2, 2010 , pp. 160-168 More about this Journal
Abstract
In order to achieve a force controller with high performance, an accurate torque servo is required. However, the precise torque servo for a double vane rotary actuator system has not been developed till now, due to many nonlinear characteristics and system parameter variations. In this paper, the torque servo structure for the double vane rotary actuator system is proposed based on the torque model. Nonlinear equations are set up using dynamics of the double vane rotary hydraulic actuator system. Then, to derive the torque model, the nonlinear equations are linearized using a taylor series expansion. Both effectiveness and performance of the design of torque servo are verified by torque servo experiments and applying the suggested torque model to an impedance controller.
Keywords
Double Vane Rotary Hydraulic Actuator; Torque Servo; Impedance Control;
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