Kinetic Control on Hydraulic Actuators with MATLAB

Abstract

Design on leg hydraulic system of hexapod robot, is of vital importance to robotic kinetic motion control and robotic tractive force. In this paper, ANSYS Workbench simulation is established on loading-conditioned hydraulic cylinder, one component of hexapod robot hydraulic system, in order to find distinct stressed and deformed area. Mathematics models are built on hydraulic actuators and transfer functions on hydraulic actuators are analyzed with MATLAB. In addition, the controllability and observability of the system are studied with Simulink simulation.