Development of Motion Control of Legs in Six-Legged Robotic Vehicle

被引：0
|
作者：
Fetyko, Jan [1 ]
Jezny, Jaromir [1 ]
Uveges, Robert [2 ]
Fedak, Viliam [2 ]
机构：
[1] ZTS VVU KOSICE AS, Juzna Trieda 95, Kosice 04124, Slovakia
[2] Tech Univ Kosice, Kosice, Slovakia
来源：
INDUSTRIAL AND SERVICE ROBOTICS | 2014年 / 613卷
关键词：
legged robotic vehicle; motion control; robot control;
D O I：
10.4028/www.scientific.net/AMM.613.36
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The paper describes control structure for driving system of a leg in six-legged robot vehicle. It can walk using locked wheels or it can roll on unlocked wheels. The leg joints are driven by hydraulic actuating units. Two different control structures are analyzed - control of a hydraulic cylinder through a mechanical gear and a structure for control of two hydraulic cylinders through a double eccentric gear mechanism. For control of the actuating units a conventional cascade structure with PI controllers completed by pre-compensation of controlled and observed variables is used. The performance of the structure has been proved on experimental stand and the experimental results are reported.
引用
收藏
页码：36 / +
页数：2
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