Nonlinear Control System Design for Construction Robots: Estimation, Partial Linearization by Feedback and State-Dependent-Parameter Control

Shaban, E. M.; Zied, K.; Taylor, Carrie-Anne; Seward, Derek

doi:10.22260/isarc2005/0041

Cited by 2 publications

(1 citation statement)

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“…To overcome the effects of slow and imprecise control due to the nonlinearities of the hydraulically-driven actuators another control approach for the Hydrolek manipulator proposed in [8] relying on a nonminimal state variable feedback techniques. More investigation on suitability of state dependent parameter (SDP) control approach was carried out in [9] by demonstrating a better desirable joint motion using the SDP control technique.…”

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confidence: 99%

Development of dynamic model of a 7DOF hydraulically actuated tele-operated robot for decommissioning applications

Montazeri

Ekotuyo

2016

2016 American Control Conference (ACC)

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Abstract-In this paper the problem of system integration and dynamic modeling of a hydraulically actuated manipulator with seven degrees of freedom, i.e. HydroLek HLK-7W is investigated. The arm is fitted on Multi-Arm mobile Robot System for Nuclear Decommissioning (MARS-ND) applications purposes. This is a step forward with respect to the previous works where only kinematics of the robot was taking into account. As the decommissioning robot has to perform precise and complex tasks autonomously using effective model-based nonlinear control algorithms having an accurate dynamic model of the arm which is reliable enough to predict the behavior of the manipulator under different operating conditions would be crucial. To this end the symbolic, and numerical model of the dynamic of robot is developed and a first attempt for model validation and tuning the parameters of the model is taken forward.

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confidence: 99%