JRM Vol.20 No.5 pp. 695-708
doi: 10.20965/jrm.2008.p0695


Control of Hydraulic Actuator Systems Using Feedback Modulator

Takeyuki Ohgi and Yasuyoshi Yokokohji

Department of Mechanical Engineering and Science, Kyoto University, Yoshida Honmachi, Sakyo-ku, Kyoto 606-8501, Japan

February 1, 2008
July 23, 2008
October 20, 2008
motion control, hydraulic actuator, feedback modulator, friction compensation, proportional valve
Heavy-duty robots using hydraulic actuators are expected to support rescue operations by removing heavy rubble in hostile -wet, dusty, or muddy- environments. The high friction generated by their hydraulic actuator, however, makes it difficult to use them in operations requiring high precision. The servovalves used to control a hydraulic actuator precisely are more expensive than conventional proportional valves, making it impractical to install them in all joints of heavy-duty robots having many degrees of freedom. In this paper, a new hydraulic actuator control method using a feedback modulator is proposed. The proposed controller improves the performance of hydraulic systems using conventional proportional valves, making it as good as that with servovalves. This paper also proposes exclusive control for controlling multiple joints simultaneously to prevent asynchronous joint movement under unbalanced loads. The effectiveness of the proposed method is confirmed through simulations and experiments.
Cite this article as:
T. Ohgi and Y. Yokokohji, “Control of Hydraulic Actuator Systems Using Feedback Modulator,” J. Robot. Mechatron., Vol.20 No.5, pp. 695-708, 2008.
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