Abstract
This letter describes our novel hydraulic circuit, referred to as the hydraulic hybrid servo booster, and its application to hydraulic manipulator. The circuit embeds a servomotor-controlled pump into a valve bridge so that the high-speed position can be achieved in a hybrid, cost-effective, and precise manner. This letter focuses on the precise manipulation of heavy-load and the compliant joint torque control using the boost mode. The main obstacles includes: first, pressure difference caused by area differences of the single rod cylinder; second, quick changes of the inertial load due to the manipulator and load dynamics; third, limited response and precision of the low-cost cartridge valves; and last, limited output flow of the small servo-pump. All these factors lead to overpressure. We propose a model-based compensation scheme to mitigate the overpressure. This method comprises: first, nonlinear flow map of the valves, and second, relief control based on the estimated flow and pressure of the servo-pump. The effectiveness is validated through the joint position and torque control experiments on our hydraulic manipulator prototype.
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