3 accepted papers
In this paper, a force servo for hydraulic robot joints is designed and applied to an inverted pendulum demo. First, the nonlinear nominal model of the hydraulic cylinder is reviewed, and the nominal integrator is introduced. Second, through a partial fusion of our modeling and control techniques, a…
This paper proposes a non-dimensional representation for hydraulic arms whose original representation is complex in terms of the nonlinear dynamics and many physical parameters. Unlike the usual nondimensional representations, the proposed nondimensional representation preserves a parametric structu…
For hydraulic robots, modeling of the control flows is a key issue. The conventional modeling methods are based on the Bernoulli equation (i.e., the control flow is a function of the form equation which needs assumption of steady flow. In robotics, since the actual control flow is not always a stead…