書誌事項
- タイトル別名
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- Position-Based Impedance Control of Cylinder for Oil Hydraulic Servo Systems.
- ユアツ サーボ キコウ ニ オケル シリンダ ノ インピーダンス セイギョ
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抄録
The oil hydraulic cylinder has been used as industrial actuators, because it is inexpensive and also has a high power to weight ratio. However the accurately control of the oil hydraulic actuators is difficult because of very complex and highiy nonlinear due to a flow-pressure relationship and large friction fores. Recently, to overcome those problems an impedance and hybrid force/position control concept has been suggested. This paper proposes an impedance control of an oil hydraulic Servo system with a position-based approach where an optimal servo system using the LQ optimization technique is constructed inside the force feedback loop. And also to attain the desired impedance over extensive operating conditions, we use an impedance parameter modulation law. From some experiments, a position-based impedance controller incorporating the optimal servo system shows good static force control ability and excellent performance in dynamic tasks such as colliwsion force reduction.
収録刊行物
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- 日本機械学会論文集C編
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日本機械学会論文集C編 65 (630), 595-601, 1999
一般社団法人 日本機械学会
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詳細情報 詳細情報について
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- CRID
- 1390001206328331648
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- NII論文ID
- 130004083835
- 110002384680
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- NII書誌ID
- AN00187463
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- ISSN
- 18848354
- 03875024
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- NDL書誌ID
- 4664575
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
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- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可