Design of a Hydraulic Servo System for Robotic Manipulation
نویسندگان
چکیده
In this document the design, control and simulation of a hydraulic model for grasping an object is presented. The principal equations that constraint such a system are first investigated through the presentation of the hydraulic components which constitute the model. Their intrinsic characteristics are discussed as well as their interactions with each other. The controller that best fit this application is found to be a hybrid position/force control where the external forces are considered as a disturbance. In the last part of this document the model is simulated with more realistic component parameters including Stribeck effect friction, leakage and nonlinear valve characteristics. The results found with this simplified model show good correlation with the more realistic simulated environment.
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