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.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Precision Control and Simulation Verification of Hydraulic Manipulator under Unknown Load


    Additional title:

    Lect.Notes Computer


    Contributors:
    Yang, Huayong (editor) / Liu, Honghai (editor) / Zou, Jun (editor) / Yin, Zhouping (editor) / Liu, Lianqing (editor) / Yang, Geng (editor) / Ouyang, Xiaoping (editor) / Wang, Zhiyong (editor) / Wang, Qixian (author) / Qi, Manzhi (author)

    Conference:

    International Conference on Intelligent Robotics and Applications ; 2023 ; Hangzhou, China July 05, 2023 - July 07, 2023



    Publication date :

    2023-10-16


    Size :

    12 pages




    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




    Precision Control and Simulation Verification of Hydraulic Manipulator under Unknown Load

    Wang, Qixian / Qi, Manzhi / Xia, Yangxiu et al. | TIBKAT | 2023



    HYDRAULIC DRIVE OF THE MANIPULATOR BOOM LOAD-LIFTING MECHANISM

    POPIKOV PETR IVANOVICH / ZELIKOV VLADIMIR ANATOLEVICH / MENYAJLOV KONSTANTIN ALEKSANDROVICH et al. | European Patent Office | 2018

    Free access


    LOAD MANIPULATOR

    TYGARD EDWARD | European Patent Office | 2020

    Free access