抄録
This paper deals with the trajectory control of a three degree-of-freedom hydraulic parallel mechanism. A hydraulic parallel mechanism is useful in an environment where high power and high accuracy are necessary. Since this mechanism is composed of three electro-hydraulic-servo systems, the characteristics of the mechanism are influenced by many nonlinear elements or disturbances external to the servo systems. Representative examples for such disturbances are a dead time characteristic and an initial shift of the neutral position of the servo valve. In order to realize a robust system against such influences, in this study, we applied a sliding mode control using a disturbance observer to the mechanism.The dynamic performance of the trajectory control of such a mechanism was investigated by experiments. As a result, we confirmed the validity of the applied method.
