Robust Force Control of a 6-Link Electro-Hydraulic Manipulator

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概要

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• Uninterrupted power supply has become indispensable during the maintenance task of active electric power lines as a result of today's highly information-oriented society and increasing demand of electric utilities. This maintenance task has the risk of electric shock and the danger of falling from high place. Therefore it is necessary to realize an autonomous robot system using electro-hydraulic manipulator because hydraulic manipulators have the advantage of electric insulation and power/mass density. Meanwhile an electro-hydraulic manipulator using hydraulic actuators has many nonlinear elements, and its parameter fluctuations are greater than those of an electrically driven manipulator. So it is relatively difficult to realize not only stable contact work but also accurate force control for the autonomous assembly tasks using hydraulic manipulators. In this paper, the robust force control of a 6-link electro-hydraulic manipulator system used in the real maintenance task of active electic line is examined in detail. A nominal model for the system is obtained from experimental frequency responses of the system, and the deviation of the manipulator system from the nominal model is derived by a multiplicative uncertainty. Robust disturbance observers for force control are designed using this information in an H_∞ framework, and implemented on the two different setups. Experimental results show that highly robust force tracking by a 6-link electro-hydraulic manipulator could be achieved even if the stiffness of environment and the shape of wall change.

• 2003-09-15

著者

• Yokota Shinichi

  R & I Lab. Tokyo Institute Of Technology

• AHN Kyoungkwan

  School of Mechanical and Automotive Engineering, University of Ulsan

• YOKOTA Shinichi

  R & I Lab., Tokyo Institute of Technology

• Ahn Kyoungkwan

  School Of Mechanical And Automotive Engineering University Of Ulsan

関連論文

• Robust Force Control of a 6-Link Electro-Hydraulic Manipulator
• Application of Discrete Event Control to the Insertion Task of Electric Line Using 6-Link Electro-Hydraulic Manipulators with Dual Arm
• Flexible Hydraulic Actuator for Space Manipulators
• Optimization of Double Loop Control Parameters for a Variable Displacement Hydraulic Motor by Genetic Algorithms
• Development of Force Reflecting Joystick for Hydraulic Excavator

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