Abstract
This paper proposes a parameter identification method for hydraulic manipulators. First, the state-space equation of hydraulic manipulators is converted into a linear equation with respect to the physical parameters which are a set of unknown parameters such as the bulk modulus and the flow gain coefficients. Second, a new sequential parameter identification method is proposed based on the linear equation. Finally, the validity of the proposed method is confirmed via the model validation using an actual manipulator. By the proposed method, unlike the conventional methods with PSO or GA, it is possible to construct the nonlinear model whose response of the positions and the pressures are very close to those of the actual manipulator.
