Tracking Control Of The Hydraulically Actuated Flexible Manipulator

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Tracking Control of the Hydraulically Actuated Flexible Manipulator

Author :
Publisher :
ISBN 13 :
Total Pages : 9 pages
Book Rating : 4.:/5 (683 download)

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Book Synopsis Tracking Control of the Hydraulically Actuated Flexible Manipulator by :

Download or read book Tracking Control of the Hydraulically Actuated Flexible Manipulator written by and published by . This book was released on 1995 with total page 9 pages. Available in PDF, EPUB and Kindle. Book excerpt: The remediation of single-shell radioactive waste storage tanks is one of the urgent tasks of the Department of Energy that challenge state-of-the-art equipment and methods. The use of long-reach manipulators is being seriously considered for this remediation task. Because high payload capacity and high length-to-cross-section ratio requirements, these long-reach manipulator systems are expected to use hydraulic actuators and to exhibit significant structural flexibility. The controller has been designed to compensate for the hydraulic actuator dynamics by using a load-compensated velocity feedforward loop and to increase the bandwidth by using a pressure feed backloop. Shaping filter techniques have been applied as a feedforward controller to avoid structural vibrations during operation. Among various types of shaping filter methods investigated an approach, referred to as a ''feedforward simulation filter'' that uses embedded simulation, has been presented.

Tracking Control of the Hydraulically Actuated Flexible Mainpulator

Author :
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (88 download)

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Book Synopsis Tracking Control of the Hydraulically Actuated Flexible Mainpulator by :

Download or read book Tracking Control of the Hydraulically Actuated Flexible Mainpulator written by and published by . This book was released on 1995 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Tracking Control of Rigid-link Flexible-joint Robot Manipulators

Author : Scott C. Martindale
Publisher :
ISBN 13 :
Total Pages : 212 pages
Book Rating : 4.:/5 (279 download)

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Book Synopsis Tracking Control of Rigid-link Flexible-joint Robot Manipulators by : Scott C. Martindale

Download or read book Tracking Control of Rigid-link Flexible-joint Robot Manipulators written by Scott C. Martindale and published by . This book was released on 1992 with total page 212 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Hydraulic Servo-systems

Author : Mohieddine Jelali
Publisher : Springer Science & Business Media
ISBN 13 : 1447100999
Total Pages : 380 pages
Book Rating : 4.4/5 (471 download)

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Book Synopsis Hydraulic Servo-systems by : Mohieddine Jelali

Download or read book Hydraulic Servo-systems written by Mohieddine Jelali and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 380 pages. Available in PDF, EPUB and Kindle. Book excerpt: This up-to-date book details the basic concepts of many recent developments of nonlinear identification and nonlinear control, and their application to hydraulic servo-systems. It is very application-oriented and provides the reader with detailed working procedures and hints for implementation routines and software tools.

Control of Underactuated Manipulators

Author : Jundong Wu
Publisher : Springer Nature
ISBN 13 : 9819908906
Total Pages : 304 pages
Book Rating : 4.8/5 (199 download)

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Book Synopsis Control of Underactuated Manipulators by : Jundong Wu

Download or read book Control of Underactuated Manipulators written by Jundong Wu and published by Springer Nature. This book was released on 2023-05-13 with total page 304 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book investigates in detail cutting-edge technologies of underactuated manipulator control, which is a frontier topic in robotics that possesses great significance in energy conservation as well as fault tolerance for industrial applications. It is also the crucial technology associated with systems in special environments, including underwater or aerospace environments. So far, the topic of underactuated manipulator control has attracted engineers and scientists from various disciplines, such as applied physics, material, automation and robotics. Pursuing a holistic approach, the book establishes a fundamental framework for this topic, while emphasizing the importance of design and optimization in the control of underactuated manipulators. Chapters of the book cover a wide variety of manipulator systems, including vertical underactuated manipulator, planar underactuated manipulator with first-order nonholonomic constraint, planar underactuated manipulator with second-order nonholonomic constraint and flexible underactuated manipulator. The book is intended for undergraduate and graduate students that are interested in underactuated manipulators, researchers that investigate the design and optimization for controllers of underactuated manipulators and engineers working with underactuated systems.

Hydraulic Manipulator Design, Analysis, and Control at Oak Ridge National Laboratory

Author :
Publisher :
ISBN 13 :
Total Pages : 150 pages
Book Rating : 4.:/5 (684 download)

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Book Synopsis Hydraulic Manipulator Design, Analysis, and Control at Oak Ridge National Laboratory by :

Download or read book Hydraulic Manipulator Design, Analysis, and Control at Oak Ridge National Laboratory written by and published by . This book was released on 1996 with total page 150 pages. Available in PDF, EPUB and Kindle. Book excerpt: To meet the increased payload capacities demanded by present-day tasks, manipulator designers have turned to hydraulics as a means of actuation. Hydraulics have always been the actuator of choice when designing heavy-life construction and mining equipment such as bulldozers, backhoes, and tunneling devices. In order to successfully design, build, and deploy a new hydraulic manipulator (or subsystem) sophisticated modeling, analysis, and control experiments are usually needed. To support the development and deployment of new hydraulic manipulators Oak Ridge National Laboratory (ORNL) has outfitted a significant experimental laboratory and has developed the software capability for research into hydraulic manipulators, hydraulic actuators, hydraulic systems, modeling of hydraulic systems, and hydraulic controls. The hydraulics laboratory at ORNL has three different manipulators. First is a 6-Degree-of-Freedom (6-DoF), multi-planer, teleoperated, flexible controls test bed used for the development of waste tank clean-up manipulator controls, thermal studies, system characterization, and manipulator tracking. Finally, is a human amplifier test bed used for the development of an entire new class of teleoperated systems. To compliment the hardware in the hydraulics laboratory, ORNL has developed a hydraulics simulation capability including a custom package to model the hydraulic systems and manipulators for performance studies and control development. This paper outlines the history of hydraulic manipulator developments at ORNL, describes the hydraulics laboratory, discusses the use of the equipment within the laboratory, and presents some of the initial results from experiments and modeling associated with these hydraulic manipulators. Included are some of the results from the development of the human amplifier/de-amplifier concepts, the characterization of the thermal sensitivity of hydraulic systems, and end-point tracking accuracy studies. Experimental and analytical results are included.

Control of Flexible Robots with Prismatic Joints and Hydraulic Drives

Author :
Publisher :
ISBN 13 :
Total Pages : 9 pages
Book Rating : 4.:/5 (684 download)

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Book Synopsis Control of Flexible Robots with Prismatic Joints and Hydraulic Drives by :

Download or read book Control of Flexible Robots with Prismatic Joints and Hydraulic Drives written by and published by . This book was released on 1997 with total page 9 pages. Available in PDF, EPUB and Kindle. Book excerpt: The design and control of long-reach, flexible manipulators has been an active research topic for over 20 years. Most of the research to date has focused on single link, fixed length, single plane of vibration test beds. In addition, actuation has been predominantly based upon electromagnetic motors. Ironically, these elements are rarely found in the existing industrial long-reach systems. One example is the Modified Light Duty Utility Arm (MLDUA) designed and built by Spar Aerospace for Oak Ridge National Laboratory (ORNL). This arm operates in larger, underground waste storage tanks located at ORNL. The size and nature of the tanks require that the robot have a reach of approximately 15 ft and a payload capacity of 250 lb. In order to achieve these criteria, each joint is hydraulically actuated. Furthermore, the robot has a prismatic degree-of-freedom to ease deployment. When fully extended, the robot's first natural frequency is 1.76 Hz. Many of the projected tasks, coupled with the robot's flexibility, present an interesting problem. How will many of the existing flexure control algorithms perform on a hydraulic, long-reach manipulator with prismatic links? To minimize cost and risk of testing these algorithms on the MLDUA, the authors have designed a new test bed that contains many of the same elements. This manuscript described a new hydraulically actuated, long-reach manipulator with a flexible prismatic link at ORNL. Focus is directed toward both modeling and control of hydraulic actuators as well as flexible links that have variable natural frequencies.

Robust Control Algorithms for Flexible Manipulators

Author : Kshetrimayum Lochan
Publisher : CRC Press
ISBN 13 : 1040152201
Total Pages : 236 pages
Book Rating : 4.0/5 (41 download)

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Book Synopsis Robust Control Algorithms for Flexible Manipulators by : Kshetrimayum Lochan

Download or read book Robust Control Algorithms for Flexible Manipulators written by Kshetrimayum Lochan and published by CRC Press. This book was released on 2024-10-13 with total page 236 pages. Available in PDF, EPUB and Kindle. Book excerpt: Various modelling and control of two-link flexible manipulators are presented in this book. The lumped parameter modelling method and the assumed modes method modelling are comprehensively reviewed. The book also reviews the trajectory tracking problem and tip trajectory tracking problem along with the suppression of tip deflection of the links. An exponential time varying signal and a chaotic signal are considered as the desired trajectories. The identical/ non-identical slave manipulator is synchronised with the controlled master manipulator so that the slave manipulator indirectly follows the desired manipulator.

Recent Advances in Industrial Machines and Mechanisms

Author : Sanjoy K. Ghoshal
Publisher : Springer Nature
ISBN 13 : 9819942705
Total Pages : 672 pages
Book Rating : 4.8/5 (199 download)

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Book Synopsis Recent Advances in Industrial Machines and Mechanisms by : Sanjoy K. Ghoshal

Download or read book Recent Advances in Industrial Machines and Mechanisms written by Sanjoy K. Ghoshal and published by Springer Nature. This book was released on 2024-01-04 with total page 672 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents select proceedings of the Conference on Industrial Problems on Machines and Mechanisms (IPRoMM 2022). It presents a comprehensive coverage of the recent developments in analysis, design and manufacturing of a range of modern and next-generation industrial machines, and solutions to mitigate common and emerging problems in their maintenance and operation. The topics covered include design, manufacturing and performance analysis of mechanical and mechatronic machine components and assemblies, machine dynamics including rotor dynamics, vehicle dynamics, and multi-body dynamics, robotics and automation, hydraulic and pneumatic systems and control, vibration engineering, tribology, condition monitoring, failure analysis, manufacturing systems and processes, reliability and quality engineering, thermo-fluid and combustion systems, aerospace systems, acoustics, automotive engineering, etc. The book discusses theoretical and practical developments in these fields which have direct industrial relevance. The book serves as a valuable reference for researchers and professionals interested in analysis, design, manufacturing, maintenance, and operation of industrial machinery.

Tracking Control of Flexible Joint Manipulators

Author : Rafael Bravo
Publisher :
ISBN 13 :
Total Pages : 274 pages
Book Rating : 4.:/5 (371 download)

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Book Synopsis Tracking Control of Flexible Joint Manipulators by : Rafael Bravo

Download or read book Tracking Control of Flexible Joint Manipulators written by Rafael Bravo and published by . This book was released on 1996 with total page 274 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Nonlinear Control Techniques for Electro-Hydraulic Actuators in Robotics Engineering

Author : Qing Guo
Publisher : CRC Press
ISBN 13 : 1351798251
Total Pages : 198 pages
Book Rating : 4.3/5 (517 download)

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Book Synopsis Nonlinear Control Techniques for Electro-Hydraulic Actuators in Robotics Engineering by : Qing Guo

Download or read book Nonlinear Control Techniques for Electro-Hydraulic Actuators in Robotics Engineering written by Qing Guo and published by CRC Press. This book was released on 2017-08-14 with total page 198 pages. Available in PDF, EPUB and Kindle. Book excerpt: Nonlinear Control Techniques for Electro-Hydraulic Actuators in Robotics Engineering meets the needs of those working in advanced electro-hydraulic controls for modern mechatronic and robotic systems. The non-linear EHS control methods covered are proving to be more effective than traditional controllers, such as PIDs. The control strategies given address parametric uncertainty, unknown external load disturbance, single-rod actuator characteristics, and control saturation. Theoretical and experimental validations are explained, and examples provided. Based on the authors' cutting-edge research, this work is an important resource for engineers, researchers, and students working in EHS.

Smart Flow Control Processes in Micro Scale

Author : Bengt Sunden
Publisher : MDPI
ISBN 13 : 3039364936
Total Pages : 334 pages
Book Rating : 4.0/5 (393 download)

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Book Synopsis Smart Flow Control Processes in Micro Scale by : Bengt Sunden

Download or read book Smart Flow Control Processes in Micro Scale written by Bengt Sunden and published by MDPI. This book was released on 2020-12-29 with total page 334 pages. Available in PDF, EPUB and Kindle. Book excerpt: In recent years, microfluidic devices with a large surface-to-volume ratio have witnessed rapid development, allowing them to be successfully utilized in many engineering applications. A smart control process has been proposed for many years, while many new innovations and enabling technologies have been developed for smart flow control, especially concerning “smart flow control” at the microscale. This Special Issue aims to highlight the current research trends related to this topic, presenting a collection of 33 papers from leading scholars in this field. Among these include studies and demonstrations of flow characteristics in pumps or valves as well as dynamic performance in roiling mill systems or jet systems to the optimal design of special components in smart control systems.

Proceedings of 1995 IEEE International Conference on Robotics and Automation, May 21-27, 1995, Nagoya, Aichi, Japan

Author :
Publisher :
ISBN 13 :
Total Pages : 1044 pages
Book Rating : 4.:/5 (318 download)

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Book Synopsis Proceedings of 1995 IEEE International Conference on Robotics and Automation, May 21-27, 1995, Nagoya, Aichi, Japan by :

Download or read book Proceedings of 1995 IEEE International Conference on Robotics and Automation, May 21-27, 1995, Nagoya, Aichi, Japan written by and published by . This book was released on 1995 with total page 1044 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Control of a Hydraulically Actuated Manipulator

Author : David L. Baldwin
Publisher :
ISBN 13 :
Total Pages : 232 pages
Book Rating : 4.:/5 (321 download)

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Book Synopsis Control of a Hydraulically Actuated Manipulator by : David L. Baldwin

Download or read book Control of a Hydraulically Actuated Manipulator written by David L. Baldwin and published by . This book was released on 1994 with total page 232 pages. Available in PDF, EPUB and Kindle. Book excerpt:

An Inverse Dynamic Tracking Control for Bracing a Flexible Manipulator

Author : Dong-Soo Kwon
Publisher :
ISBN 13 :
Total Pages : 296 pages
Book Rating : 4.:/5 (248 download)

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Book Synopsis An Inverse Dynamic Tracking Control for Bracing a Flexible Manipulator by : Dong-Soo Kwon

Download or read book An Inverse Dynamic Tracking Control for Bracing a Flexible Manipulator written by Dong-Soo Kwon and published by . This book was released on 1991 with total page 296 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Tracking Control of Rigid-link Electrically Driven Robot Manipulators Actuated by Switched Reluctance Motors

Author : Marion David Leviner
Publisher :
ISBN 13 :
Total Pages : 324 pages
Book Rating : 4.:/5 (279 download)

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Book Synopsis Tracking Control of Rigid-link Electrically Driven Robot Manipulators Actuated by Switched Reluctance Motors by : Marion David Leviner

Download or read book Tracking Control of Rigid-link Electrically Driven Robot Manipulators Actuated by Switched Reluctance Motors written by Marion David Leviner and published by . This book was released on 1992 with total page 324 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Robust Control Algorithms for Two-link Flexible Manipulators

Author : Kshetrimayum Lochan
Publisher : CRC Press
ISBN 13 : 1040152260
Total Pages : 262 pages
Book Rating : 4.0/5 (41 download)

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Book Synopsis Robust Control Algorithms for Two-link Flexible Manipulators by : Kshetrimayum Lochan

Download or read book Robust Control Algorithms for Two-link Flexible Manipulators written by Kshetrimayum Lochan and published by CRC Press. This book was released on 2024-10-13 with total page 262 pages. Available in PDF, EPUB and Kindle. Book excerpt: Various modelling and control of two-link flexible manipulators are presented in this book. The lumped parameter modelling method and the assumed modes method modelling are comprehensively reviewed. The book also reviews the trajectory tracking problem and tip trajectory tracking problem along with the suppression of tip deflection of the links. An exponential time varying signal and a chaotic signal are considered as the desired trajectories. The identical/ non-identical slave manipulator is synchronised with the controlled master manipulator so that the slave manipulator indirectly follows the desired manipulator.