New modeling, fast dynamics simulation, and total energy control of N-DOF hydraulic arms

2016 Fiscal Year Final Research Report

• Project/Area Number: 26420173
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Research Field: Dynamics/Control
• Research Institution: Shinshu University
• Principal Investigator: SAKAI Satoru 信州大学, 学術研究院工学系, 准教授 (90400811)
• Project Period (FY): 2014-04-01 – 2017-03-31
• Keywords: 油圧ロボット / 動力学 / モデリング / 数値シミュレーション / 制御 / 制御理論 / 機械力学 / 最適化

Outline of Final Research Achievements

Hydraulic robots are superior to electric robots with respect to the power to weight ratio. It is strongly expected that hydraulic robots achieve higher control performance in the field of construction, agriculture, rescue, demining, and so on. In addition to model free control, model based control should be established as a set of methodologies to gurantee the safety and to reduce the development cost.
In this project, modeling for hydraulic robots is our first focus. The old version of our modeling is updated in terms of control theory and control experiment. Numerically and experimentally, it is confirmed that the new version achives a much faster forward dynamics computation taking the total energy into account, and also a very new position control with the sum of pressures suppression by which the mechanical frictions and the external leakages are reduced.

Free Research Field

油圧ロボットのモデルベースト制御