Hydraulic manipulators with multiple degrees of freedom have an increasing range of applications in industrial production, and have the potential to complete various complex tasks. Nowadays, the complex and precision-demanding working environment often requires the hydraulic manipulators to have high control accuracy, which limits their usage. The inherent high-order nonlinearity and uncertainty of hydraulic systems greatly affect the precise control of hydraulic manipulators. High order dynamics such as friction and vibration also have a significant impact on their controlling. Additionally, manipulator typically operates in complex environments with large loads, the end load has always been an important external factor affecting their control accuracy. In this paper, a direct/indirect adaptive robust controller (DIARC) is developed. By incorporating nonlinear and uncertain terms into the dynamic modeling, the control accuracy can be improved. In addition, the end load of the manipulator is incorporated into the parameter space, which makes end load estimation possible. Simulation is constructed using MATLAB Simscape and the performance of the controller is attested. Results shows that the controller can not only improve the tracking accuracy when the end load is heavy, but precisely identify the mass of end load precisely.
Precision Control and Simulation Verification of Hydraulic Manipulator under Unknown Load
Lect.Notes Computer
International Conference on Intelligent Robotics and Applications ; 2023 ; Hangzhou, China July 05, 2023 - July 07, 2023
2023-10-16
12 pages
Article/Chapter (Book)
Electronic Resource
English
Hydraulic manipulator , Adaptive robust control , End load estimation Computer Science , Artificial Intelligence , Software Engineering/Programming and Operating Systems , Computer Applications , User Interfaces and Human Computer Interaction , Computer Communication Networks , Special Purpose and Application-Based Systems
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