Title :
Modeling and control of a hydraulically actuated flexible-prismatic link robot
Author :
Love, Lonnie ; Kress, Reid ; Jansen, John
Author_Institution :
Robotics & Process Syst., Oak Ridge Nat. Lab., TN, USA
Abstract :
Most of the research related to flexible link manipulators to date has focused on single link, fixed length, single plane of vibration test beds. In addition, actuation has been predominantly based upon electromagnetic motors. Ironically, these elements are rarely found in the existing industrial long reach systems. This paper describes a new hydraulically actuated, long reach manipulator with a flexible prismatic link at Oak Ridge National Laboratory (ORNL). Focus is directed towards both modeling and control of hydraulic actuators as well as flexible links that have variable natural frequencies
Keywords :
actuators; control nonlinearities; flexible structures; hydraulic control equipment; limit cycles; manipulator dynamics; vibration control; Oak Ridge National Laboratory; dynamics; flexible link manipulators; flexible-prismatic link; hydraulic actuators; hydraulic drives; limit cycle; long reach manipulator; modeling; nonlinearities; Bandwidth; Frequency; Laboratories; Manipulators; Position measurement; Robot control; Robot sensing systems; Testing; Vibration control; Vibration measurement;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.620113
