6軸油圧マニピュレータのモデリングと制御

抄録

This study is concerned with modeling and model-based controller design for hydraulic manipulator, aiming at dynamic and accurate position/force control. In general, hydraulically operated system is too complicated to be modeled by first principles. Based on a linear transfer function model obtained via system identification technique, we designed PID feedback control system and estimated efficiency of the model. We also examined accuracy of trajectory tracking control with respect to the end-effector position, under joint-wise PID feedback control.