CASCADE CONTROL OF HYDRAULICALLY ACTUATED MANIPULATORS

被引：27

作者：

SEPEHRI, N

DUMONT, GAM

LAWRENCE, PD

SASSANI, F

机构：

[1] Department of Mechanical Engineering, The University of British Columbia, Vancouver, B.C.

[2] Department of Electrical Engineering, The University of British Columbia, Vancouver, B.C.

来源：

ROBOTICA | 1990年 / 8卷

关键词：

D O I：

10.1017/S0263574700000060

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

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. © 1990, Cambridge University Press. All rights reserved.

引用

页码：207 / 216

页数：10

共 12 条

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