A control method for hydraulic manipulators in automatic emulsion filling

Wang, Weidong; Chi, Hongpeng; Zhao, Siyu; Du, Zhijiang

doi:10.1016/j.autcon.2018.03.001

Cited by 11 publications

(5 citation statements)

References 19 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Due to the typical ranges of manipulators with a large working area [1,11,21,33,34], the tests were carried out for three ranges L (6 m, 3 m, and 1.5 m), corresponding to the size ratio K of ×10, ×5, and ×2.5. The maximum marker spacing (effector movement range) was 8 m, 4 m, and 2 m, respectively.…”

Section: Experimental Setting and User Taskmentioning

confidence: 99%

The Influence of the Operator’s Perception on the Energy Demand for a Hydraulic Manipulator with a Large Working Area

Cieślik,

Krogul,

Łopatka

et al. 2024

Applied Sciences

View full text Add to dashboard Cite

The efficient operation of hydraulic manipulators with expansive working areas is crucial in various applications such as the construction industry, the rescue service, and the military. These machines are characterized by having more capabilities than humans, and they perform tasks that are not repeated in the same environment. For this reason, they are most often controlled by a human in a teleoperation system. This research investigates the influence of the operator’s perception on the energy demand of such manipulators. Specifically, the research focused on assessing how the intuitive control systems, such as primary–secondary solutions, impact the energy consumption. Understanding the relation between the operator’s perception and the energy demand is essential for optimizing manipulator design and operation. Experimental research was conducted to analyze the velocity and acceleration of the manipulator’s effector, which is controlled by human operators under different movement ranges and size ratios. The obtained test results allow for the assessment of the dynamic loads, velocity, and energy consumption of the movement of a manipulator with a large working area due to the limitations resulting from the operator’s perception.

show abstract

Section: Experimental Setting and User Taskmentioning

confidence: 99%

The Influence of the Operator’s Perception on the Energy Demand for a Hydraulic Manipulator with a Large Working Area

Cieślik,

Krogul,

Łopatka

et al. 2024

Applied Sciences

View full text Add to dashboard Cite

show abstract

“…The research was conducted for distances 2, 4, and 8 m, which gave size ratio K = 2.5; K = 5 and K = 10. These are typical size ratios during positional control for manipulators with a large working area [23,24,31,[40][41][42][43]. Each subject moved, using his hand, the laser spot (effector) displayed on the screen from point A to B (right to left) and back from B to A (left to right) in a straight line.…”

Section: Experimental Setting and User Taskmentioning

confidence: 99%

Section: Experimental Setting and User Taskmentioning

confidence: 99%

Experimental Research on the Influence of Size Ratio on the Effector Movement of the Manipulator with a Large Working Area

et al. 2023

View full text Add to dashboard Cite

More and more commonly, manipulators and robots equipped with effectors are used to replace humans in the implementation of tasks that require significant working abilities or are used in dangerous zones. These constructions have considerable ranges and are capable of carrying heavy loads. The specificity of the tasks performed with the use of mentioned devices requires their control by a human. Intuitive tracking systems are used to control them. Problems in their use result from the kinematic amplification between the effector and the operator’s hand. Proper design of the drive and control systems for these manipulators requires knowledge of the maximum velocities of the manipulator’s effectors, which significantly depend on the scale ratio. The article presents the results of the effector’s velocity movements while performing a specific task by the operator’s hand with different velocities and scale ratios.

show abstract

“…Hydraulic heavyduty manipulators are irreplaceable for heavy workpiece handling. They improve the efficiency of fine manipulation of heavy loads, thus ensuring production, safety and reducing labour costs [13][14][15]. Comparing against electric actuators, hydraulic actuators have the advantage of producing high power while having a smaller size [16,17].…”

Section: Introductionmentioning

confidence: 99%

Non‐linear optimal control for multi‐DOF electro‐hydraulic robotic manipulators

Rigatos

Zervos

Abbaszadeh

et al. 2020

IET cyber-systems robotics

View full text Add to dashboard Cite

A non-linear optimal (H-infinity) control approach is proposed for the dynamic model of multi-degree-of-freedom (DOF) electro-hydraulic robotic manipulators. Control of electro-hydraulic manipulators is a non-trivial problem because of their non-linear and multi-variable dynamics. In this study, the considered robotic system consists of a multi-link robotic manipulator that receives actuation from rotary electro-hydraulic drives. The article's approach relies first on approximate linearisation of the state-space model of the electro-hydraulic manipulator, according to first-order Taylor series expansion and the computation of the related Jacobian matrices. For the approximately linearised model of the manipulator, a stabilising H-infinity feedback controller is designed. To compute the controller's gains, an algebraic Riccati equation is solved at each time-step of the control algorithm. The global stability properties of the control scheme are proven through Lyapunov analysis. The proposed control method retains the advantages of typical optimal control, i.e. fast and accurate tracking of the reference setpoints under moderate variations of the control inputs.

show abstract

A control method for hydraulic manipulators in automatic emulsion filling

Cited by 11 publications

References 19 publications

The Influence of the Operator’s Perception on the Energy Demand for a Hydraulic Manipulator with a Large Working Area

The Influence of the Operator’s Perception on the Energy Demand for a Hydraulic Manipulator with a Large Working Area

Experimental Research on the Influence of Size Ratio on the Effector Movement of the Manipulator with a Large Working Area

Non‐linear optimal control for multi‐DOF electro‐hydraulic robotic manipulators

Contact Info

Product

Resources

About