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Positional Accuracy, Stability, and Response of Hydraulic Control Systems using Underlapped Servovalves Part 2 - Experimental Results and Some Proposed Solutions for a Robotic Application

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1 Author(s)
Watton, J. ; Department of Mechanical Engineering and Energy Studies, University College, Cardiff, U.K.

Part 1 discussed the origin of position error due to servovalve port underlap and how it varied with actuator load force. Part 2 now shows experimental support to the steady-state theory, and also establishes the dynamic model of the closed-loop system. Three approaches are then discussed with a view to positional accuracy improvement in a robotic manipulator application. These three approaches are concerned with either computer software implementation or a combination of software and hydraulic hardware implementation.

Published in:

American Control Conference, 1987

Date of Conference:

10-12 June 1987