QIN Zhen, WU Jian-wei, YIN Shuai
Due to the strong coupling characteristics between the mechanical and hydraulic systems in the hydraulic driven six axis robot system, as well as the significant nonlinearity of the flow pressure relationship of the hydraulic actuator, traditional dynamic modeling methods based on decoupling assumptions are difficult to accurately describe the dynamic characteristics of the system. This modeling error will be transmitted to the end effector through joint drive, increasing overshoot and causing a decrease in position control accuracy. Therefore, a high-precision position control method for a hydraulic driven six axis robot based on incremental nonlinear inverse control is proposed. Construct a robot joint dynamics equation that includes the coupling characteristics of mechanical and hydraulic systems through Lagrange equations, and establish a complete hydraulic drive dynamics model by combining the physical relationships such as flow rate and pressure of hydraulic actuators; Adopting an incremental nonlinear inverse control method, the nonlinear characteristics of the system are accurately compensated through a dynamic inverse model, and the mechanical hydraulic strong coupling problem is solved by combining incremental iteration strategy, ultimately achieving high-precision control of the end effector position. Through experiments, it is known that the displacement of the hydraulic system piston and the robot speed under this method have a small difference from the expected values. When there is no interference, the rise time is 0.8 seconds, the adjustment time is 2.5 seconds, the overshoot is 5%, and the response is fast and stable; When there is interference, the rise time is 1.2 seconds, the adjustment time is 3.0 seconds, and the overshoot is 8%. In the presence or absence of interference, this method can quickly and stably control the output, with excellent dynamic stability and high control accuracy.