Positional Accuracy, Stability, and Response of Hydraulic Control Systems using Underlapped Servovalves Part 2 - Experimental Results and Some Proposed Solutions for a Robotic Application

Part 1 discussed the origin of position error due to servovalve port underlap and how it varied with actuator load force. Part 2 now shows experimental support to the steady-state theory, and also establishes the dynamic model of the closed-loop system. Three approaches are then discussed with a view to positional accuracy improvement in a robotic manipulator application. These three approaches are concerned with either computer software implementation or a combination of software and hydraulic hardware implementation.