Oscillation damping system for hydraulic robot - uses measured drive forces to provide feedback regulation of each drive control parameter

摘要

The oscillation damping system for a hydraulic robot uses the measured drive force (15) in each of the hydraulic drive elements (2). The drive forces (15) are used for feedback regulation of the control parameter for the velocity of each drive, ensuring a proportional reduction of the control parameter for oscillation damping of the dynamic system. Pref. each drive element (2) comprises an hydraulic cylinder, with measurement of the pressure (6) at each of its ends. This allows the drive force to be calculated using the known effective working cross-section of the piston. USE - For industrial handling robot.