Research on compensation control algorithm for electro-hydraulic servo system of collaborative robot handarm

Jitong Wang

doi:10.1117/12.3051795

18 November 2024 Research on compensation control algorithm for electro-hydraulic servo system of collaborative robot handarm

Jitong Wang

Author Affiliations +

Proceedings Volume 13403, International Conference on Algorithms, High Performance Computing, and Artificial Intelligence (AHPCAI 2024) ; 134032Q (2024) https://doi.org/10.1117/12.3051795
Event: International Conference on Algorithms, High Performance Computing, and Artificial Intelligence, 2024, Zhengzhou, China

Abstract

Collaborative robots in the petrochemical industry often use electro-hydraulic servo control due to explosion-proof requirements. This paper establishes a mathematical model of the electro-hydraulic servo system for explosion-proof collaborative robots and studies the system control strategy. In response to the problems of slow response speed and resonance peaks in conventional PID control, a three state feedforward compensation and structural filtering design were adopted to eliminate the influence of system resonance peaks and improve the performance of system position tracking and speed tracking.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Jitong Wang "Research on compensation control algorithm for electro-hydraulic servo system of collaborative robot handarm", Proc. SPIE 13403, International Conference on Algorithms, High Performance Computing, and Artificial Intelligence (AHPCAI 2024) , 134032Q (18 November 2024); https://doi.org/10.1117/12.3051795

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