Electrohydraulic synchronizing servo control of a robotic arm

被引：3

作者：

Li, S. ^{[1
]}

Ruan, J. ^{[1
]}

Pei, X. ^{[1
]}

Yu, Z. Q. ^{[1
]}

Zhu, F. M. ^{[1
]}

机构：

[1] Zhejiang Univ Technol, MOE Key Lab Mech Mfg & Automat, Hangzhou 310014, Peoples R China

来源：

4th International Symposium on Instrumentation Science and Technology (ISIST' 2006) | 2006年 / 48卷

关键词：

D O I：

10.1088/1742-6596/48/1/236

中图分类号：

TH7 [仪器、仪表];

学科分类号：

0804 ; 080401 ; 081102 ;

摘要：

The large robotic arm is usually driven by the electrodraulic synchronizing control system. The electrodraulic synchronizing system is designed with the digital valve to eliminate the effect of the nonlinearities, such as hysteresis, saturation, definite resolution. The working principle of the electrodraulic synchronizing control system is introduced and the mathematical model is established through construction of flow rate equation, continuity equation, force equilibrium equation, etc. To obtain the high accuracy, the PID control is introduced in the system. Simulation analysis shows that the dynamic performance of the synchronizing system is good, and its steady state error is very small. To validate the results, the experimental set-up of the synchronizing system is built. The experiment makes it clear that the control system has high accuracy. The synchronizing system can be applied widely in practice.

引用

页码：1268 / 1272

页数：5