電気静油圧アクチュエータのトルク効率と内部漏れ流量のモデリング

抄録

Recently, robots working in cooperation with humans are required. From the viewpoint of safety, it is necessary to perform flexible operation and accurate detection of external force. Electro hydrostatic actuators (EHAs) have mechanisms of high backdrivability. Therefore, by applying reaction force observers (RFOBs) to EHAs, it is possible to obtain force sensitivity and flexibility. Moreover, by considering nonlinear elements in EHAs, it is possible to estimate reaction force more accurately. In addition, experimental results showed an improvement of the reaction force estimation accuracy.