Research on compensation control algorithm for electro-hydraulic servo system of collaborative robot handarm

Abstract

Collaborative robots in the petrochemical industry often use electro-hydraulic servo control due to explosion-proof requirements. This paper establishes a mathematical model of the electro-hydraulic servo system for explosion-proof collaborative robots and studies the system control strategy. In response to the problems of slow response speed and resonance peaks in conventional PID control, a three state feedforward compensation and structural filtering design were adopted to eliminate the influence of system resonance peaks and improve the performance of system position tracking and speed tracking.