油圧マニピュレータの高精度位置決め制御

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The uninterrupted supply of electric power requires that high-voltage power distribution maintenance work be done in a live-line state, and for this purpose a manipulator for power distribution line work has been developed that allows an operator to work by remote control. The manipulator must be light weight and have high output, because it is installed on a relatively unstable end of an insulated crane boom of a "cherry picker" truck and must handle heavy objects such as power distribution machinery and materials. Under such conditions, a hydraulic drive system has more advantages than an electrical drive system, but from the standpoint of control performance, a hydraulic manipulator has some characteristic problems not found in an electric manipulator. The stiffness is also low because most of it is made of plastic in order to ensure electrical insulation performance. In this research we are studying the accurate positioning of the end of the arm in terms of robustness with respect to changes in system parameters of a 6-axis hydraulic manipulator that has such unstable characteristics. In particular, cooperation among the various axes becomes important for improving the accuracy in positioning, and position disturbance estimation and compensation by an observer as well as speed disturbance estimation and compensation are applied and evaluated by independent servo system for each joint. As a result, it was verified by experiment that robust, stable and accurate positioning can always be achieved against fluctuations in the moment of inertia caused by changes in the attitude of the arm, and against the nonlinear disturbances, such as axis interference, that are characteristic of a multi-jointed arm.
一般社団法人日本機械学会の論文
1995-05-25

油圧マニピュレータの高精度位置決め制御

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