Electrohydrostatic actuator and parameter estimation method for electrohydrostatic actuator

摘要

PROBLEM TO BE SOLVED: To enhance power controllability of robot.SOLUTION: An electrostatic hydraulic actuator includes: a static hydraulic transmission system converting input of a first speed of a hydraulic pump 2 on an input side to output of a second speed of a hydraulic cylinder 3 on an output side; a pump drive motor 4 driving the hydraulic pump 2, and capable of controlling the first speed of the hydraulic pump 2; a sensor 5 detecting the second speed of the hydraulic cylinder 3; and an output control part 6. The output control part 6 controls the first speed of the hydraulic pump 2 through the pump drive motor 4 so as to reach a target value of force output from the hydraulic cylinder 3, with the second speed of the hydraulic cylinder 3 as input.SELECTED DRAWING: Figure 2