配電工事用電気油圧マニピュレータの高精度ロバスト制御 第２報 外乱オブザーバを用いた二軸アーム高精度軌跡制御

Abstract

For electric distributed power line manipulators, insulated electro-hydraulic actuators are mostly used. However, for remote control with visual sensors, and moreover, the self-organized control of the manipulators, an accurate control method for hydraulic bilateral manipulators has yet to be sufficiently investigated. Especially, due to system parameter changes and flexibility of insulated actuators, the system loop gain is much lower, and stiffness of the system cannot be maintained any higher. In the previous report, it was ascertained that a robust control using a disturbance observer is effective to reduce the influence of static parameter changes. In this study, we examine an accurate positioning control method for the two-link manipulators with insulated actuators using a disturbance observer under the condition involving dynamic system parameter changes such as interaction forces. As a result, it is confirmed through experiments that the robust control method using a disturbance observer is suitable to control hydraulic manipulator arms accurately.