DocumentCode
3129743
Title
Verified simulation of a hydraulic drive
Author
Fansten, D. ; Möllers, Thomas ; Traczinski, Holger
Author_Institution
Dept. of Inf. II, Gerhard-Mercator-Univ., Duisburg, Germany
fYear
1999
fDate
1999
Firstpage
23
Lastpage
27
Abstract
To obtain reliable simulation results in the context of uncertain data and error propagation we use interval arithmetics and a self acting error calculus, and apply these methods to a hydraulic driven elastic robot. We describe a new explicit Sugeno-Takagi fuzzy model representation of a hydraulic differential cylinder with servo valve and show that a verification of the simulation results is possible in most cases, and that only small errors occur
Keywords
drives; error analysis; fuzzy control; hydraulic systems; robot dynamics; simulation; valves; Sugeno-Takagi fuzzy model; elastic robot; error calculus; error propagation; hydraulic differential cylinder; hydraulic drive; interval arithmetics; servo valve; simulation; Calculus; Computational modeling; Computer errors; Error correction; Floating-point arithmetic; Hydraulic drives; Laboratories; Robots; Servomechanisms; Valves;
fLanguage
English
Publisher
ieee
Conference_Titel
Robot Motion and Control, 1999. RoMoCo '99. Proceedings of the First Workshop on
Conference_Location
Kiekrz
Print_ISBN
0-7803-5655-1
Type
conf
DOI
10.1109/ROMOCO.1999.791047
Filename
791047
Link To Document