Author:
Sepehri N.,Dumont G.A.M.,Lawrence P.D.,Sassani F.
Abstract
SUMMARYA 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.
Publisher
Cambridge University Press (CUP)
Subject
Computer Science Applications,General Mathematics,Software,Control and Systems Engineering
Reference12 articles.
1. Adaptive Linear Control for Robotic Manipulators;Koivo;IEEE Transaction on Automatic Control,1983
Cited by
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