DocumentCode :
2856485
Title :
Nonlinear control of hydraulic differential cylinders actuating a flexible robot
Author :
Bernzen, W. ; Wey, T. ; Riege, B.
Author_Institution :
Fac. of Mech. Eng., Duisburg Univ., Germany
Volume :
2
fYear :
1997
fDate :
10-12 Dec 1997
Firstpage :
1333
Abstract :
Using robots for heavy loads and/or huge operating ranges causes on the one hand that elastic deformations have to be taken into account. On the other hand, these robots demand actuators with a significant power density able to produce the desired high forces. This can profitably be reached by the use of hydraulic drives. A laboratory testbed of a flexible robot for testing various control concepts is considered. It is a robot with elastic links manufactured of spring steel. The three rotary joints are driven by hydraulic translation drives within closed kinematic loops to transform the translation of the drives into a rotation of the joints. To realize complex control concepts, e.g. for vibration damping, it is necessary to develop decentralised controllers for position and/or force control of the hydraulic actuators in a first step. One modern nonlinear control technique is the exact linearization via feedback which is used to develop a nonlinear controller to compensate the main nonlinear effects of a hydraulic differential cylinder
Keywords :
actuators; hydraulic control equipment; nonlinear control systems; robot kinematics; valves; control concepts; elastic deformations; elastic links; exact linearization; flexible robot; hydraulic differential cylinder; hydraulic differential cylinders; nonlinear control; Actuators; Force control; Hydraulic drives; Laboratories; Linear feedback control systems; Manufacturing; Robots; Springs; Steel; Testing;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Decision and Control, 1997., Proceedings of the 36th IEEE Conference on
Conference_Location :
San Diego, CA
ISSN :
0191-2216
Print_ISBN :
0-7803-4187-2
Type :
conf
DOI :
10.1109/CDC.1997.657643
Filename :
657643
Link To Document :
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