전기식 유압 서보 밸브의 중력보상 알고리즘 개발
- Title
- 전기식 유압 서보 밸브의 중력보상 알고리즘 개발
- Authors
- YI, INJE; NAM, SEOK HO; CHUNG, WAN KYUN; KIM, KEEHOON
- Date Issued
- 2021-05-20
- Publisher
- 한국로봇학회
- 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.
- URI
- https://oasis.postech.ac.kr/handle/2014.oak/107004
- Article Type
- Conference
- Citation
- 제 16회 한국로봇종합학술대회, 2021-05-20
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