Schneider, Martin; Hiller, Manfred:
Nonlinear Motion Control of Hydraulically Driven Large Redundant Manipulators
In: In Proceedings of the IFAC-Workshop Motion Control - Gerhard-Mercator-Universität - GH Duisburg, Fachgebiet Mechatronik Lotharstraße 1 47057 Duisburg, Germany, 1995, S. 269 - 278
Buchaufsatz/Kapitel in Sammelwerk / Fach: Maschinenbau
Titel:
Nonlinear Motion Control of Hydraulically Driven Large Redundant Manipulators
Autor(in):
Schneider, Martin; Hiller, Manfred im Online-Personal- und -Vorlesungsverzeichnis LSF anzeigen
Erscheinungsjahr:
1995
Erschienen in:
In Proceedings of the IFAC-Workshop Motion Control - Gerhard-Mercator-Universität - GH Duisburg, Fachgebiet Mechatronik Lotharstraße 1 47057 Duisburg, Germany, 1995, S. 269 - 278

Abstract:

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.