遠隔センシングによるタフ油圧サーボ系の開発

―第1報：流量による位置制御システムの提案―

抄録

General robotic systems require sensors on end effectors to collect information for feedback control; displacement, force, temperature, etc. This configuration can cause troubles with hard tasks in extreme environments instead of precise sensing. Hydraulic actuators also face this challenge for use in extreme environments. This paper proposes a novel position control system for hydraulic actuators using flow volume to aspire ”tough” hydraulic robots. A prototype is developed to confirm the feasibility of the proposed servo system by fundamental experiments; comparing the position estimated by the proposed method with the position obtained by a potentiometer. These experiments show the applicability of the proposed method to the tough robotic systems.