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Experiments on a high performance hydraulic manipulator joint: Modelling for control

  • Chapter 11 Actuation Control
  • Conference paper
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Experimental Robotics V

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 232))

Abstract

Modelling and experimental identification of a hydraulic servoactuator system is presented. The development of the model is important for further understanding the system and for developing a robust force controller. System parameters are identified using the elbow joint of the SARCOS slave experimental hydraulic manipulator. Experimental work is central to achieving the modelling objectives. Physical parameters are identified using specially designed experiments and apparatus which isolate various subsystems of the joint. Several modelling assumptions are justified by experimental observations. The model is validated by comparing simulation and experimental results. Correlation between model and actual system response proved to be very good. Hence, the developed model predicts well system dynamics behavior and will prove useful in the development of a robust force controller.

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Authors and Affiliations

  1. Department of Mechanical Engineering & Centre for Intelligent Machines, McGill University, Montreal, Canada

    Glen Bilodeau & Evangelos Papadopoulos

Authors
  1. Glen Bilodeau
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  2. Evangelos Papadopoulos
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Editor information

Alicia Casals Anibal T. de Almeida

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© 1998 Springer-Verlag London Limited

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Bilodeau, G., Papadopoulos, E. (1998). Experiments on a high performance hydraulic manipulator joint: Modelling for control. In: Casals, A., de Almeida, A.T. (eds) Experimental Robotics V. Lecture Notes in Control and Information Sciences, vol 232. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0112990

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  • DOI: https://doi.org/10.1007/BFb0112990

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-76218-8

  • Online ISBN: 978-3-540-40920-5

  • eBook Packages: Springer Book Archive

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