전기식 유압 서보 밸브의 중력보상 알고리즘 개발

Abstract

The athletic performance has been focused in robot systems such as exoskeleton and humanoid. By virtue of high-power density and torque to weight ratio, electro-hydraulic actuators have been developed. Also, gear reduction and reflected inertia is not considered. A EHSS(Electro-Hydraulic Servo System) which is a suitable type for multi-DoF robots is proposed to improve the athletic performance. A model-based controller considered the typical problems in electro-hydraulic actuators, such as friction, internal leakage and nonlinearity of a fluid. Gravity compensation was conducted to verify the performance of the actuator and controller. The results of experiment will be introduced in the result section.