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Cascade control of hydraulically actuated manipulators

Published online by Cambridge University Press:  09 March 2009

N. Sepehri ,
G.A.M. Dumont ,
P.D. Lawrence  and
F. Sassani
N. Sepehri
Affiliation:
Department of Mechanical Engineering, The University of British Columbia, Vancouver, B. C. (Canada).
G.A.M. Dumont
Affiliation:
Department of Electrical Engineering, The University of British Columbia, Vancouver, B. C. (Canada).
P.D. Lawrence
Affiliation:
Department of Electrical Engineering, The University of British Columbia, Vancouver, B. C. (Canada).
F. Sassani
Affiliation:
Department of Mechanical Engineering, The University of British Columbia, Vancouver, B. C. (Canada).
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Summary

A 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.

Keywords

Cascade controlHydraulic robotsControl strategies2-link robot
Type
Article
Information
Robotica , Volume 8 , Issue 3 , July 1990 , pp. 207 - 216
Copyright
Copyright © Cambridge University Press 1990

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