Nonlinear Motion Control of Hydraulically Driven Large Redundant Manipulators
The control tasks for the investigated manipulators are tracking prescribed trajectories and avoiding collisions with obstacles in the three dimensional workspace. The most important problems one has to deal with are the complexity of the system with a highly nonlinear kinematic and dynamic behavior, the nonlinear friction and elasticity of the hydraulic drives and the redundant structure of the arm package. In this paper two different concepts for controlling the hydraulic actuators are presented, both using the method of exact input output linearization.
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