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Dynamic Model of a Hydraulic Servo System for a Manipulator Robot
KTH, School of Electrical Engineering (EES), Electrical Energy Conversion.
2014 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

In this master thesis, a mathematical model of a hydraulic servo system for a manipulator robot

is completed by using several different methodologies. The models proposed are particularly

tuned for the DeLaval VMS robotic arm. The parameter identification of the robotic arm is

accomplished by dividing the model into several subsystems and investigating each system

separately by using catalogue data, experimental data and construction drawings. Furthermore,

the assumptions are proposed based on the literature review and the expertise of in-house


After completion of parameter identification several different mathematical models including

linear and nonlinear methodologies are introduced. It is demonstrated that the improvednonlinear

model can successfully mimic the movement of the robotic arm with relatively small

errors and it is found to be fairly reliable. Moreover, the errors incurred when chamber pressures

are compared with experimental data are found to be relatively small. Furthermore, the improved

linear model have successfully delivered an accurate position estimation especially for the

medium valve opening, while the chamber pressures are relatively less accurately predicted.

The study further carries out sensitivity (uncertainty) analyses to investigate the crucial

parameters of the model since it is sometimes very problematic to precisely estimate these

parameters. It is found out that the flow coefficient and supply pressures have remarkable impact

on the results of the simulations. Therefore, it is strongly advised that these parameters should be

very carefully evaluated during the modeling process.

Finally the bulk modulus models are compared and the influence of the bulk modulus is


Place, publisher, year, edition, pages
2014. , 81 p.
EES Examensarbete / Master Thesis, XR-EE-E2C 2014:002
National Category
Other Electrical Engineering, Electronic Engineering, Information Engineering
URN: urn:nbn:se:kth:diva-152800OAI: diva2:751504
Educational program
Master of Science - Innovative Sustainable Energy Engineering
Available from: 2014-10-01 Created: 2014-10-01 Last updated: 2014-10-01Bibliographically approved

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