Modelling and Control of a Hydraulic Actuated Large Scale Manipulator
Modelling and Control of a Hydraulic Actuated Large Scale Manipulator
复制标题
液压驱动大型机械手的建模与控制
DOI：
10.1002/pamm.200410052
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发表时间：
2004
期刊：
影响因子：
--
通讯作者：
K. Schlacher
中科院分区：
文献类型：
--
作者：
R. Stadlmayr;K. Schlacher
这一贡献涉及的建模和控制的弹性机械手。由于重量很大，臂由液压油缸驱动。总体目标是实现良好的跟踪的提示，以及拒绝干扰，这对灵活的手臂。控制器的设计是基于两种方法。基于平坦度的前馈控制负责跟踪行为，基于无源性的反馈律稳定轨迹并抑制弹性振动。（© 2004 WILEY‐VCH Verlag GmbH & Co. KGaA，魏因海姆）
This contribution deals with the modelling and control of an elastic manipulator. The arm is actuated by a hydraulic ram due to the significant weight. The overall goal is to achieve good tracking of the tip, as well as to reject disturbances, which act on the flexible arm. The controller design is based on two approaches. A flatness‐based feedforward control takes care of the tracking behaviour, and a passivity‐based feedback law stabilizes the trajectories and suppresses the elastic vibrations. (© 2004 WILEY‐VCH Verlag GmbH & Co. KGaA, Weinheim)