Passivity based control and design of hydraulic robot manipulators

对液压机器人的无源控制与设计进行了理论和实验研究。1)将连续律推广为新的动力本构律，推导出液压机器人机械臂的新的规范表达式。2)提出了一种新的标准实验装置，可以在开杆和闭杆之间切换，也可以选择联合干扰，如离心/科里奥利效应。3)提出了一种新的基于无源的动态控制方法，实现了自适应镇定和输出反馈镇定。

Passivity based control and design of hydraulic robot manipulators are studied theoretically and experimentally. 1) The continuity law is generalized as a new dynamic constitutive law in order to derive a new canonical expression for hydraulic robot manipulators. 2) A new standard experimental setup is proposed to switch between open link and closed link and also to select joint-interferences such as centrifugal/Coriolis effects. 3) A new passivity based dynamic controls are proposed to achieve disturbance rejection, adaptive stabilization and output feedback stabilization.