Abstract
In order to improve the reliability of position feedback of large hydraulic manipulator, a new position feedback system based on data fusion is presented. The system is applied on a hydraulic manipulator in our study, and it is based on least square method to fuse the angles obtained by two kinds of sensors. One kind of sensor is inclinometer; and the other one is ultrasonic sensor. Both of them can get the angle after transformation and calculation. The design theories of proposed system are presented and corresponding formulas are given. Furthermore, the effectiveness of the new proposed system is verified through experiments. The experiment system is developed by hydraulic manipulator, controller system, hydraulic system and position feedback system with corresponding controller. The result verified the effectiveness of the position back system. Furthermore, the system can improve the position feedback reliability of hydraulic manipulators.
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