Stability-Guaranteed Anti-Sway Controller Design for a Redundant Articulated Hydraulic Manipulator in the Vertical Plane
Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Scientific › peer-review
Details
| Original language | English |
|---|---|
| Title of host publication | ASME/BATH 2017 Symposium on Fluid Power and Motion Control |
| Publisher | ASME |
| Number of pages | 10 |
| ISBN (Electronic) | 978-0-7918-5833-2 |
| DOIs | |
| Publication status | Published - Oct 2017 |
| Publication type | A4 Article in a conference publication |
| Event | ASME/BATH Symposium on Fluid Power and Motion Control - , United Kingdom Duration: 1 Jan 1900 → … |
Conference
| Conference | ASME/BATH Symposium on Fluid Power and Motion Control |
|---|---|
| Country | United Kingdom |
| Period | 1/01/00 → … |
Abstract
Articulated hydraulic manipulators are widely used for moving heavy loads. Commercial manipulators are most often equipped with a rotating load-grasping tool connected at the end of the manipulator via a pair of passive (unactuated) revolute joints. In free-space motion, these passive joints are subject to swaying motions due to the manipulator tip accelerations. Because these passive joints are not directly controllable due to their passive nature, a skilled driver is needed to compensate for the load swaying. In this paper, we extend the nonlinear model-based Virtual Decomposition Control (VDC) theory to cover anti-sway control of underactuated multiple degrees-of-freedom (DOF) hydraulic redundant manipulators. The proposed nonlinear controller performs the control design and stability analysis of the hydraulic robotic manipulator at the subsystem level. Experiments are conducted in a full-scale loader manipulator to verify that the proposed controller can efficiently damp the load swaying in a case study of redundant vertical plane motion.