A practical approach to detecting external force applied to hydraulic cylinder for construction manipulator

Mitushiro Kamezaki*, Hiroyasu Iwata, Sugano Shigeki

*この研究の対応する著者

研究成果: Conference contribution

5 被引用数 (Scopus)

抄録

This paper presents a fundamental external force detection framework for construction manipulator. Such industrial application primarily requires practicality that satisfies detection requirements such as accuracy and robustness while ensuring (i) low cost, (ii) wide applicability, and (iii) simple detection algorithm. To satisfy (i) and (ii), our framework adopts hydraulic sensors as force sensors. Hydraulic sensor inherently detects error force components that generate depending on joint kinetic state and differ in identification-difficulty due to hydromechanical uncertainty and nonlinearity. To satisfy (ii) and (iii), theoretical, experimental, and conditional identification methods without complicated model analysis are applied in static, uniform motion, and accelerated motion states for identifying self-weight, driving, inertial forces defined as dominant error components. Experiments were conducted using our instrumented hydraulic arm system. Result of no-load task indicates that our framework lowers a threshold to define the on-off state of external force applied to hydraulic cylinder, independent of joint kinetic conditions. Result of on-load task confirms that our framework identifies off-states in which external force is not applied to hydraulic cylinder.

本文言語English
ホスト出版物のタイトルProceedings of SICE Annual Conference 2010, SICE 2010 - Final Program and Papers
出版社Society of Instrument and Control Engineers (SICE)
ページ1255-1256
ページ数2
ISBN(印刷版)9784907764364
出版ステータスPublished - 2010 1 1

出版物シリーズ

名前Proceedings of the SICE Annual Conference

ASJC Scopus subject areas

  • 制御およびシステム工学
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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