유압구동 로보트의 제어를 위한 유압 실린더 모델 파라미터 추정

• 영문명: Dynamic Model Parameter Estimation of Hydraulic Cylinder for Robot Manipulator Control
• 발행기관: 강원대학교 산업기술연구소
• 저자명: 최명환(Myoung Hwan Choi)
• 간행물 정보: 『산업기술연구』vol.16, 113~121쪽, 전체 9쪽
• 주제분류: 공학 > 공학일반
• 파일형태: PDF
• 발행일자: 1996.09.30

영문 초록

In the early developmental stages of robotics,hydraulics played an important role. As the power-to-weight ratio of electric motors increased, they eventually replaced hydraulic actuators in robot manipulators. Recently, however, task requirements have dictated that the manipulator payload capacity increase to accomodate greater payload, greater length, greater reaction forces, and hydraulic actusators are being studied as an effective form of robot actuation again. For efficient control of hydraulic actuators, the knowledge of its dynamic equation is essential. However, the dynamic equation of hydraulic actuators are nonlinear, and the dynamic coefficients are time varying. In this paper, an estimation algorithm of the dynamic coefficients of the hydraulic piston dynamics are formulated. Simulation results are presented to show the possibility of the parameter estimation.

목차

ABSTRACT

1. 서론

2. 유압실린더의 동역학 모델

3. 파라미터 추정

4. 시뮬레이션 결과 및 분석

5. 결론

참고문헌