Richard Stadlmayr, Kurt Schlacher,
"Modelling and Control of a Hydraulic Actuated Large Scale Manipulator"
, in PAMM - Proceedings in Applied Mathematics and Mechanics, Vol. 4, Nummer 1, Wiley VCH-Verlag, Seite(n) 141-142, 12-2004, ISSN: 1617-7061
Original Titel:
Modelling and Control of a Hydraulic Actuated Large Scale Manipulator
Sprache des Titels:
Englisch
Original Kurzfassung:
This contribution deals with the modelling and control of an elastic manipulator. The arm is actuated by a hydraulic ram due to the significant weight. The overall goal is to achieve good tracking of the tip, as well as to reject disturbances, which act on the flexible arm. The controller design is based on two approaches. A flatness-based feedforward control takes care of the tracking behaviour, and a passivity-based feedback law stabilizes the trajectories and suppresses the elastic vibrations.
Sprache der Kurzfassung:
Englisch
Journal:
PAMM - Proceedings in Applied Mathematics and Mechanics
Veröffentlicher:
Wiley VCH-Verlag
Volume:
4
Number:
1
Seitenreferenz:
141-142
Erscheinungsmonat:
12
Erscheinungsjahr:
2004
ISSN:
1617-7061
Anzahl der Seiten:
2
Notiz zur Publikation:
Stadlmayr R., Schlacher K.: Modelling and Control of a Hydraulic Actuated Large Scale Manipulator In: PAMM, Proceedings of GAMM 2004, March 21-27 2004, Dresden, Germany, Vol. 4, No. 1, ISSN: 1617-7061, pp. 141-142, 2004.
Forschungs-