CAJ | 학술논문

大负载足式机器人一般选用液压驱动单元作为系统的驱动机构。考虑到机器人结构紧凑性及控制性能等原因，研究了一种基于PQ阀控非对称液压缸系统的位置闭环刚度特性。通过建立并利用系统的非线性方程，结合P Q阀的特性，研究了PQ阀在位置闭环时等效刚度动静态特性。研究表明，在位置闭环时，系统特性与弹簧等效且等效刚度与系统的增益成正比，这为机器人基于位置闭环的阻抗控制提供了理论基础。
대부재족식궤기인일반선용액압구동단원작위계통적구동궤구。고필도궤기인결구긴주성급공제성능등원인，연구료일충기우PQ벌공비대칭액압항계통적위치폐배강도특성。통과건립병이용계통적비선성방정，결합P Q벌적특성，연구료PQ벌재위치폐배시등효강도동정태특성。연구표명，재위치폐배시，계통특성여탄황등효차등효강도여계통적증익성정비，저위궤기인기우위치폐배적조항공제제공료이론기출。
Robots that work in the wild envi-ronment with heavy load usually use a hydraulic system as its actuator.Considering the structure and control characteristic of the robot,the charac-teristic of single rod hydraulic system on P Q valve is studied.By establishing and using the sys-tem’s nonlinear model and with the characteristic of the P Q valve in mind,this paper analyzes the closed position loop stiffness of the system.The result shows that the equivalent stiffness is propor-tional to the gain of the system when the system is in closed loop condition with external force dis-turbance and this provides a theoretical basis for the control of the legged robot and the analysis of the characteristic of the robot.