抄録
This paper proposes a framework to detect (identify on-off state of) external force applied to hydraulic cylinder for construction manipulator, utilizing hydraulic sensor. Hydraulic sensor inherently detects not only external force but also self-weight, driving, and inertial forces. These error components generate depending on joint-kinetic state and they differ in identification-difficulty due to hydromechanical uncertainty and nonlinearity. Theoretical model-based, experimental estimation-based, and waveform analysis-based identification methods were respectively applied in static, uniform motion, and accelerated motion states. Experiments were conducted by utilizing an instrumented hydraulic arm system. Results indicated that the proposed framework greatly lowered a threshold to detect external force, independently of various kinetic conditions.
