Five degrees of freedom electrohydraulic servo
manipulator motion control system

LIU Xiang-qi¹, REN Xu¹, CAI Zeng-wei², YING Yan-xin³

                                         (1. School of Mechanical Engineering, Hanzhou Dianzi University, Hangzhou 310018, China;
                                           2. Shanghai Automotive Brake Systems Co., Ltd., Shanghai 201821, China;
                                              3. Zhejiang CHR Intelligent Equipment Co., Ltd., Jinyun 321404, China)

Abstract: Aimging at the problems that the electro-hydraulic servo manipulator poor in motion precision and stability and the control model is nonlinear,the advantages of strong load capacity and large energy density was considered,and the manipulator motion control system was designed. Firstly, the position vector of TCP was showed by the method of closed chain vector; secondly, five order B-spline interpolation method and improved particle swarm optimization algorithm were introduced to realize the optimal trajectory planning of TCP position; finally, adopting grading control management solution, with conventional control strategy of PID, IL - PID, NDI , was used to realize the manipulator motion control of each joint. With simolation and experimental done in 5DOF manipulator, the results indicate that the motion control system can realize accurately control of designated movement in requirement of high load and high precision.
Key words: electro-hydraulic servo manipulator; closed-chain vector; trajectory optimization; synchronous drive