가상 분해 제어와 외란 관측기를 이용한 산림용 유압 머니퓰레이터의 추종 성능 향상

초록

This study proposes a residual-based disturbance compensation method for a forestry hydraulic manipulator with closed-chain hydraulic actuation and a passive wrist. A nominal model is constructed from the gravity equilibrium configuration of the passive joints, and the joint-level torque residual is transformed into the cylinder-force domain for Virtual Decomposition Control (VDC) feedforward compensation. MuJoCo simulation results show that the proposed VDC with Disturbance Observer (DOB) controller reduces the workspace RMS tracking error at the passive wrist pivot point and passive wrist tilt standard deviation by approximately 43% and 49%, respectively, compared with baseline PID control.

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