A Survey on Control of Hydraulic Robotic Manipulators With Projection to Future Trends

Mattila, Jouni; Koivumäki, Janne; Caldwell, Darwin G.; Semini, Claudio

doi:10.1109/tmech.2017.2668604

Cited by 197 publications

(97 citation statements)

References 99 publications

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“…The joint space to actuator space transformations of the test-bed are presented in the following. Firstly, the base cylinder has a constant torque arm r 1 because a rack-and-pinion mechanism, as illustrated in Figure 7, is used Equation (11) . Furthermore, the torque arm r 2 of the lift cylinder can be written as:…”

Section: Joint Space To Actuator Space Transformationsmentioning

confidence: 99%

“…Assuming fluid incompressibility in these computations is the most convenient approach. Notice that by assuming constant velocity limits, the joint velocity limits vary if the torque arm is non-constant see Equation (11) . Only if a particular cylinder's torque arm is constant can the corresponding velocity limit be expressed optimally in the joint space.…”

Section: Actuator Limitsmentioning

confidence: 99%

“…Looking at the handful of redundancy resolutions dealing with specific problems and objectives pertaining to hydraulic manipulators, however, it becomes evident that global energy-optimal redundancy resolutions are lacking. To explain the importance of global energy-optimal redundancy resolution, system energy inefficiency is a major problem in hydraulic manipulators [11]. Therefore, to address this problem, we resolve the redundancy in a highly desirable hydraulic energy-optimal manner and effectively treat the inherently limited joint motions of hydraulic manipulators by enforcing important actuator position, velocity and acceleration limits in our solution.…”

Section: Introductionmentioning

confidence: 99%

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Global Energy-Optimal Redundancy Resolution of Hydraulic Manipulators: Experimental Results for a Forestry Manipulator

Nurmi

Mattila

2017

Energies

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This paper addresses the energy-inefficiency problem of four-degrees-of-freedom (4-DOF) hydraulic manipulators through redundancy resolution in robotic closed-loop controlled applications. Because conventional methods typically are local and have poor performance for resolving redundancy with respect to minimum hydraulic energy consumption, global energy-optimal redundancy resolution is proposed at the valve-controlled actuator and hydraulic power system interaction level. The energy consumption of the widely popular valve-controlled load-sensing (LS) and constant-pressure (CP) systems is effectively minimised through cost functions formulated in a discrete-time dynamic programming (DP) approach with minimum state representation. A prescribed end-effector path and important actuator constraints at the position, velocity and acceleration levels are also satisfied in the solution. Extensive field experiments performed on a forestry hydraulic manipulator demonstrate the performance of the proposed solution. Approximately 15-30% greater hydraulic energy consumption was observed with the conventional methods in the LS and CP systems. These results encourage energy-optimal redundancy resolution in future robotic applications of hydraulic manipulators.

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Section: Joint Space To Actuator Space Transformationsmentioning

confidence: 99%

Section: Actuator Limitsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Global Energy-Optimal Redundancy Resolution of Hydraulic Manipulators: Experimental Results for a Forestry Manipulator

Nurmi

Mattila

2017

Energies

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“…In the recent years, hydraulic maintenance robots have also been extensively developed to operate heavy objects in harsh environments, such as in the nuclear fusion industry (see [1] and [2]) containing high radiation, extreme temperatures, and strong magnetic fields. It is already projected that the advent of robotics will revolutionize the (hydraulic) heavy-duty machine industry [3]. It is evident that in extreme working conditions where a stable high-bandwidth communication is not guaranteed, new This work was supported by Academy of Finland under the project "Cooperative heavy-duty hydraulic manipulators for sustainable subsea infrastructure installation and dismantling," under Grants 286553 and 286580.…”

Section: Introductionmentioning

confidence: 99%

“…However, automatic planning of compliant motions is shown to be mathematically infeasible [5]. Furthermore, designing a stability-guaranteed (i.e., theoretically sound) and high-precision closed-loop control for multiple degrees-of-freedom (n-DOF) hydraulic manipulators is a well-known challenge due to their highly nonlinear dynamic behaviour [3], [6]- [8]. It is valid to mention that the control system stability is the primary requirement for all control systems and an unstable system is typically useless and potentially dangerous [9], [10].…”

Section: Introductionmentioning

confidence: 99%

Learning from Demonstration for Hydraulic Manipulators

Suomalainen¹,

Koivumäki

Lampinen

et al. 2018

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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This paper presents, for the first time, a method for learning in-contact tasks from a teleoperated demonstration with a hydraulic manipulator. Due to the use of extremely powerful hydraulic manipulator, a force-reflected bilateral teleoperation is the most reasonable method of giving a human demonstration. An advanced subsystem-dynamic-based control design framework, virtual decomposition control (VDC), is used to design a stability-guaranteed controller for the teleoperation system, while taking into account the full nonlinear dynamics of the master and slave manipulators. The use of fragile force/ torque sensor at the tip of the hydraulic slave manipulator is avoided by estimating the contact forces from the manipulator actuators' chamber pressures. In the proposed learning method, it is observed that a surface-sliding tool has a friction-dependent range of directions (between the actual direction of motion and the contact force) from which the manipulator can apply force to produce the sliding motion. By this intuition, an intersection of these ranges can be taken over a motion to robustly find a desired direction for the motion from one or more demonstrations. The compliant axes required to reproduce the motion can be found by assuming that all motions outside the desired direction is caused by the environment, signalling the need for compliance. Finally, the learning method is incorporated to a novel VDC-based impedance control method to learn compliant behaviour from teleoperated human demonstrations. Experiments with 2-DOF hydraulic manipulator with a 475kg payload demonstrate the suitability and effectiveness of the proposed method to perform learning from demonstration (LfD) with heavy-duty hydraulic manipulators.

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Mathematical‐based control method and performance analysis of a novel hydromechatronics driving system micro‐independent metering

Abuowda¹,

Dupac

Noroozi

et al. 2020

Math Methods in App Sciences

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This paper aims to investigate the performance of a hydraulic actuator controlled by the novel system micro-independent metering (MIM). This analysis has been performed by comparing the models of two systems which are the traditional independent metering, that depends on poppet valve, and the new hydro-mechatronics system micro-independent metering, that relies on a stepped rotary flow control valve. In general, independent metering is a hydraulic control system which guarantees a separation between the meter-in and the meter-out of the hydraulic actuator.A Valvistor valve, a special type of Poppet valves, was developed to be embedded into the independent metering (IM) system. This valve has controllability and stability shortcomings which prevent the system from spreading in the industrial applications. The Valvistor valve performance is highly affected by the fluid disturbances because the fluid is considered as a part of its control elements. A stepped rotary flow control valve has been developed to control hydraulic flow rate. The valve composed of a rotary orifice attached to a stepper motor. Using this valve instead of the traditional poppet type has led to a new configuration, that is termed by micro-independent metering. This form improves the hydraulic cylinder velocity performance by rejecting the fluid disturbances effect on the control circuit.

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A Survey on Control of Hydraulic Robotic Manipulators With Projection to Future Trends

Cited by 197 publications

References 99 publications

Global Energy-Optimal Redundancy Resolution of Hydraulic Manipulators: Experimental Results for a Forestry Manipulator

Global Energy-Optimal Redundancy Resolution of Hydraulic Manipulators: Experimental Results for a Forestry Manipulator

Learning from Demonstration for Hydraulic Manipulators

Mathematical‐based control method and performance analysis of a novel hydromechatronics driving system micro‐independent metering

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