Title :
Hydraulic actuator analysis for industrial robot multivariable control
Author :
Habibi, S.R. ; Richards, R.J. ; Goldenberg, A.A.
Author_Institution :
Robotics & Autom. Lab., Toronto Univ., Ont., Canada
fDate :
29 June-1 July 1994
Abstract :
This paper aims to obtain a general mathematical function for hydraulic actuators which can be used for the design of multivariable controllers. The paper shows that the current/torque relationships of linear actuators may be represented as first order resulting overall in a third order input/output function for robots with large supply pressure. The model caters for the greatest source of instability in hydraulic systems, namely the compressibility feedback can be used to solve the problem of supply pressure variations resulting from multi-joint movements of robot arms. A large hydraulic robot, the Workmaster, formerly manufactured by Thorn EMI Robotics, is modeled without loss of generality.
Keywords :
actuators; control system synthesis; hydraulic control equipment; industrial robots; multivariable control systems; robots; Thorn EMI Robotics; Workmaster; compressibility feedback; current/torque relationships; hydraulic actuator analysis; industrial robot multivariable control; linear actuators; multi-joint movements; supply pressure variations; third order input/output function; Feedback; Hydraulic actuators; Hydraulic systems; Industrial control; Industrial relations; Manipulators; Robot control; Service robots; Torque; Virtual manufacturing;
Conference_Titel :
American Control Conference, 1994
Print_ISBN :
0-7803-1783-1
DOI :
10.1109/ACC.1994.751897