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JRM Vol.37 No.1 pp. 76-85
doi: 10.20965/jrm.2025.p0076
(2025)

Paper:

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Model Validation Using Ready-Made Components Toward Flexible Hydraulic Joints

Ryo Arai and Satoru Sakai ORCID Icon

Shinshu University
4-17-1 Wakasato, Nagano, Nagano 380-8553, Japan

Received:
July 20, 2024
Accepted:
October 15, 2024
Published:
February 20, 2025
Creative Commons License
Keywords:
flexible hydraulic joints, model validation, ready-made components
Abstract

This paper discusses model validation of hydraulic joints in the presence of unknown external forces using ready-made components. First, we review hydraulic cylinder dynamics with nonlinear pressure dynamics. Second, we design a controller that applies existing methods so that hydraulic joints have high backdrivability against unknown external forces. Third, we discuss the experimental and numerical responses of hydraulic joints in the presence of unknown external forces as the model validation. No custom-made cylinders, valves, or pipes are used in our experiments. Remarkably, the experimental and numerical responses were close to each other in the presence of unknown external forces.

Model validation with non short pipe (1.9 m)

Model validation with non short pipe (1.9 m)

Cite this article as:
R. Arai and S. Sakai, “Model Validation Using Ready-Made Components Toward Flexible Hydraulic Joints,” J. Robot. Mechatron., Vol.37 No.1, pp. 76-85, 2025.
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Last updated on Mar. 04, 2025