期刊
IEEE ROBOTICS AND AUTOMATION LETTERS
卷 6, 期 2, 页码 1966-1972出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/LRA.2021.3061068
关键词
Compliance and impedance control; field robots; force control; hydraulic; pneumatic actuators; manipulators
类别
资金
- KAKENHI [17H03208]
- Grants-in-Aid for Scientific Research [17H03208] Funding Source: KAKEN
This research introduces a novel pneumatically controlled hydraulic booster, suitable for water-hydraulic robots, which can easily control water pressure using pneumatic proportional valves and has been applied to underwater robots, demonstrating the potential of the system through experiments.
This letter describes a novel pneumatically controlled hydraulic booster: Air-Hydraulic Servo Booster (AHSB) applied to water-hydraulic robots. This pump-less hydraulic circuit can control middle range water pressure easily by pneumatic proportional valves, where one can use tap water as the hydraulic medium. In this letter, we explain the principle of operation and the control system integration applied to a simple submersible robot arm. Then we analyze the full dynamics of the system and derive control algorithms by which a robust pressure controller is used with sliding mode control. The proposed system is evaluated using a joint torque and position control experiment on the 0.35-m-long robot arm with a 10 kg payload, with connections via 20-m-long hydraulic hoses. The experimental results demonstrate the high potential of the proposed system for remotely operated robots that work compliantly and robustly in various fields without contamination.
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