CASCADE CONTROL OF HYDRAULICALLY ACTUATED MANIPULATORS

被引：27
|
作者：
SEPEHRI, N
DUMONT, GAM
LAWRENCE, PD
SASSANI, F
机构：
[1] Department of Mechanical Engineering, The University of British Columbia, Vancouver, B.C.
[2] Department of Electrical Engineering, The University of British Columbia, Vancouver, B.C.
来源：
ROBOTICA | 1990年 / 8卷
关键词：
D O I：
10.1017/S0263574700000060
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
A fundamental study on the control of hydraulically actuated robots is presented. Dynamic modelling is performed in both time-domain and frequency-domain. It is shown that the inclusion of hydraulic elements increases the order of the system. Hydraulic compliance is the most effective factor in this regard. Three distinct control strategies are applied. Their performances are evaluated and compared. All three methods are exemplified with a two link hydraulic robot in a computer simulation. The robot has the same hydraulic configuration as many existing industrial manipulators. The simulation program is written in ACSL (Advanced Continuous Simulation Language) running on a VAX 11 750. © 1990, Cambridge University Press. All rights reserved.
引用
收藏
页码：207 / 216
页数：10
相关论文
共 50 条
  • [21] A hydraulically actuated compound pendulum
    White, WN
    Kelkar, AG
    Fales, RC
    [J]. PROCEEDINGS OF THE 1996 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS, 1996, : 426 - 431
  • [22] Hydraulically Actuated Artificial Muscles
    Meller, M. A.
    Tiwari, R.
    Wajcs, K. B.
    Moses, C.
    Reveles, I.
    Garcia, E.
    [J]. ELECTROACTIVE POLYMER ACTUATORS AND DEVICES (EAPAD) 2012, 2012, 8340
  • [23] A HYDRAULICALLY ACTUATED SAFETY DEVICE
    SACHS, PL
    [J]. JOURNAL OF MARINE RESEARCH, 1964, 22 (01) : 105 - 109
  • [24] Modal control of a hydraulically driven redundant actuated fully parallel mechanism
    He, Jing-feng
    Jiang, Hong-zhou
    Tong, Zhi-zhong
    [J]. JOURNAL OF VIBRATION AND CONTROL, 2017, 23 (10) : 1585 - 1592
  • [25] Modeling and control of a hydraulically actuated flexible-prismatic link robot
    Love, L
    Kress, R
    Jansen, J
    [J]. 1997 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION - PROCEEDINGS, VOLS 1-4, 1997, : 669 - 675
  • [26] Multiple Degrees of Freedom Active Motion Control of a Hydraulically Actuated Crane
    Balan, Marius
    Majecki, Pawel
    Grimble, Michael
    Blackwell, Paul
    [J]. Oceans Conference Record (IEEE), 2021, 2021-September
  • [27] State-dependent control of a hydraulically actuated nuclear decommissioning robot
    Taylor, C. James
    Robertson, David
    [J]. CONTROL ENGINEERING PRACTICE, 2013, 21 (12) : 1716 - 1725
  • [28] Multiple Degrees of Freedom Active Motion Control of a Hydraulically Actuated Crane
    Balan, Marius
    Majecki, Pawel
    Grimble, Michael
    Blackwell, Paul
    [J]. OCEANS 2021: SAN DIEGO - PORTO, 2021,
  • [29] Energy-based nonlinear control of hydraulically actuated mechanical systems
    Grabmair, Gernot
    Schlacher, Kurt
    [J]. 2005 44TH IEEE CONFERENCE ON DECISION AND CONTROL & EUROPEAN CONTROL CONFERENCE, VOLS 1-8, 2005, : 7520 - 7525
  • [30] Active Compliance Control for a Hydraulically-Actuated Articulated Robotic Leg
    Li, Changyou
    An, Honglei
    Ma, Hongxu
    Wei, Qing
    [J]. 2017 29TH CHINESE CONTROL AND DECISION CONFERENCE (CCDC), 2017, : 4901 - 4906
12345