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Modelling and control for a large-scale manipulator, the structure of which is a three-link manipulator with hydraulic actuators is studied in the presented paper. Firstly, a numerically efficient simulation model is set up for the purpose of real time and control application. Secondly, a control using sliding mode is developed to exploit the full potential of the hydraulic manipulator. In order to design sliding mode control to track a trajectory of the end effector in task space directly, it is necessary to build a mapping between the joint space coordinate to the task space. To demonstrate the control performance, Proportional control is used for simulation to compare with SMC, and the experimental results are also given.

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A class of multi-link, structurally flexible and hydraulically powered manipulators are considered for an application of using sliding mode control to track a trajectory of end-tip. Due to the particularity of dynamic model of system and for the purpose of control synthesis, it is required to a modification mapping from the generalized coordinate to the task space, and position of end tip is defined as output of system for the tracking target in the task space. The control based on the model is developed to exploit the full potential of flexible hydraulic manipulator. In the paper, the control performance is demonstrated by simulation on PATU 655 log crane, that is a three flexible links manipulator with the actuation of the lift and jib hydraulic servo systems in the presence of considerable uncertainty.