Abstract
In this paper, the method used to determine the control parameters concerned with a 3 d. o. f. robot arm which is actuated by hydraulic direct-drive motors equipped with servo valves is discussed. First, the mathematical model of this robot arm is formulated. Next, the design rule of SISO (single-input, single-output) 3-order system and Bode diagrams are utilized at the same time for the control design of one arm. Moreover, the stability and the sensitivity of this dynamic coupling system are discussed with generalized Gershgorin Bands of a MIMO (multi-input, multi-output) system. Finally, the numerical simulations and the experiments of this robot arm are executed; the effectiveness of this design is also verified.
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