Research on Hydraulic Legged Robot Joint Drive System Testing Platform
The joint drive system is the crucial control system of the hydraulic legged robot,and its control performance determines the motion performance of the robot.In order to test the control perform-ance of the joint drive system of the hydraulic legged robot,to achieve the accurate simulation of external load force and to research the high-performance control strategy,the joint drive system test platform of the hydraulic legged robot is designed.The working principle of the joint drive system test platform is in-troduced,and the design of the mechanical structure,hydraulic system and measurement and control sys-tem of the test platform is completed;the simulation model of the joint drive system test platform in MATLAB/Simulink platform is established,and the load simulation ability and control performance of the test platform are verified through simulation analysis.The results show that the joint drive system test platform can accurately achieve the load force loading and precise control,and provide a platform for the subsequent research on the joint drive system of hydraulic legged robot.
国家科技期刊平台
NSTL
万方数据
