Modelling, simulation and control of a large hydraulically driven redundant manipulator with flexible links. Modell, Simulation und Regelung eines großen redundanten Manipulators mit flexiblen Gelenken und Hydrauliksteuerung
Hydraulically driven large-scale manipulators are complex mechatronic systems with highly nonlinear dynamic behaviour. For an easier understanding of this behaviour a nonlinear dynamic simulation model is required, taking into account all relevant coupling effects between hydraulic drives and arm elements as well as between flexible deformations and overall nonlinear rigid body motion. The model also serves as the basis of a nonlinear position control concept for tracking prescribed trajectories and for avoiding vibrations arising due to the elasticities in the system. The redundancy of the arm assembly can be used to avoid collisions with obstacles in the three dimensional workspace. Regarding numerical aspects, it is shown that the applied kinetostatic method has great advantages.
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