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[CN 202111246682.0] A Soft Measurement Method for End Force of Hydraulic Manipulator
[CN 202111246682.0] Title of a Soft Measurement Method for End Force of Hydraulic Manipulator: Application Number of a Soft Measurement Method for End Force of Hydraulic Manipulator: CN 202111246682.0 Applicant: East China Jiaotong University; Chongqing University Application Date: 2021-10-26 Patent Type: Invention Application The present invention discloses a soft measurement method for end force of hydraulic manipulator. Firstly, a dynamic model of hydraulic manipulator is established and the dynamic model is linearized, the linear model of the minimum inertial parameter set of the manipulator and its corresponding regression matrix is established, and the finite Fourier series coefficient is solved to generate the excitation trajectory with the minimum number of conditions of the regression matrix as the goal. Then, under the condition of no load, the mechanical arm runs an excitation track, collects the value of the two cavity pressure sensor of the hydraulic cylinder, and calculates the hydraulic driving torque τ through the pressure of the two cavities of the hydraulic cylinder. The joint angle, angular velocity, and angular acceleration at each moment are brought into the regression matrix Y and combined into a total matrix. Finally, the dynamic parameters of the manipulator are calculated according to the obtained hydraulic driving torque τ and regression matrix Y. The end force soft measurement method proposed by the invention can replace the end force sensor, and solves the problem that the force sensor is easily damaged under complex operating conditions, so that the end force cannot be accurately sensed.
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