TUTCRIS - Tampereen teknillinen yliopisto


Stability-Guaranteed Anti-Sway Controller Design for a Redundant Articulated Hydraulic Manipulator in the Vertical Plane



OtsikkoASME/BATH 2017 Symposium on Fluid Power and Motion Control
ISBN (elektroninen)978-0-7918-5833-2
DOI - pysyväislinkit
TilaJulkaistu - lokakuuta 2017
OKM-julkaisutyyppiA4 Artikkeli konferenssijulkaisussa
TapahtumaASME/BATH Symposium on Fluid Power and Motion Control - , Iso-Britannia
Kesto: 1 tammikuuta 1900 → …


ConferenceASME/BATH Symposium on Fluid Power and Motion Control
Ajanjakso1/01/00 → …


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.