Tracking control of the hydraulically actuated flexible manipulator

This paper discusses automation of a small-scale hydraulic shovel and its trajectory control. To move an end-effector (grinder) along a desired trajectory, the controller uses PID control and internal pressure of hydraulic cylinder. To apply PID control to the present hydraulic system, the system model is derived physically and its system parameters are obtained by actual measurement. To show the effectiveness of the PID controller and propriety of system model, the computer simulations and experiments are performed. These results in simulations and experiments indicate that the PID trajectory control of robotic deburring by hydraulic shovel is effective.

show abstract

“…The all parameters except a, 1) are measured value, a and D are quoted from the published technical data [9]. A characteristics of Eq.…”

Section: Simulation and Experimental Resultsmentioning

confidence: 99%

“…The dynamic property of the spool motion and the desired flowrate of the servo valve [9] can be written as:…”

Section: Characteristicsmentioning

confidence: 99%

Control for Robotic Deburring by Hydraulic Shovel

Kang

Hara

Yokogawa

et al. 1996

Proceedings of the JFPS International Symposium on Fluid Power

View full text Add to dashboard Cite

show abstract

“…Compared with the traditional heavy rigid mechanical arms system, the flexible mechanical arms system has evident advantages because of its wider application, faster response speed, higher payload-to-robot-weight ratio and efficiency, and safer operation due to reduced inertia. 1,2 Therefore, the flexible mechanical arms system is compatibly and widely used in the fields of aerospace, [3][4][5][6] manufactory, 7 national defense, 8 and so on. However, the greatest disadvantage of the flexible mechanical arms systems is the vibration problem due to their long, slender, and light arms.…”

Section: Introductionmentioning

confidence: 99%

Vibration attenuation in two-link flexible mechanical arms with periodic composite materials

Zhang

Kang

Jiang

et al. 2015

Advances in Mechanical Engineering

View full text Add to dashboard Cite

We introduce the periodic composite materials, so-called phononic crystals, to the flexible mechanical arms systems. Due to the transfer matrix method and the Bloch theorem, the theoretical solution of band structure of the two-link model is deduced and then verified by the frequency response by the finite element method. The influence of the included angle of arms to vibration characteristics is analyzed. The frequency response of the two-link flexible arms with/without phononic crystals is investigated. The results illustrate that, by using the periodic composite materials, some frequency ranges with strong attenuation can be obtained. This study provides a new way to eliminate vibrations in flexible mechanical arms.

show abstract

“…Although concepts for computed force on hydraulic cylinders were proposed by Lischinsky, Canudas-de-Wit, and Morel (1999), they did not consider dynamics. Kwon and Babcock (1995) for the load and friction effect in tracking control, did not consider a parallel manipulator and system dynamics. Zhou (1995), who developed a force-compensation controller for hydraulic robots, did not consider parallel manipulators.…”

Section: Introductionmentioning

confidence: 99%