한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)

  • 제20권3호
  • /
  • Pages.89-96
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  • 2003
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  • 1225-9071(pISSN)
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  • 2287-8769(eISSN)
한국정밀공학회 (Korean Society for Precision Engineering)
권호 표지

PFC보상기를 응용한 6축 전기 유압매니퓰레이터의 강인 제어

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

  • 안경관 (울산대학교 기계자동차공학부) ;
  • 정연오 (동경공업대학정밀기계시스템 대학원)
  • 발행 : 2003.03.01
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초록

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.

키워드

참고문헌

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