DocumentCode :
1571367
Title :
Modeling dynamics of an electro-hydraulic servo actuated manipulator: A case study of a forestry forwarder crane
Author :
Hera, Pedro Miranda La ; Morales, Daniel Ortiz
Author_Institution :
Swedish University of Agricultural Sciences, Sweden, 90183
fYear :
2012
Firstpage :
1
Lastpage :
6
Abstract :
System modeling and parameters estimation are key elements to realize model-based control. Here, we present a discussion of modeling dynamics of a forestry forwarder crane, for which standard Euler-Lagrange formulations are used to describe its equations of motion. To calibrate this model according to experimental data, we perform parameter estimation based on the method of least squares. This procedure allows identifying various unknown parameters, which are related to the inertias, masses, location of center of masses, and friction forces coefficients. The results of simulation tests show a significant correspondence between measured and estimated variables, validating our modeling approach.
fLanguage :
English
Publisher :
ieee
Conference_Titel :
World Automation Congress (WAC), 2012
Conference_Location :
Puerto Vallarta, Mexico
ISSN :
2154-4824
Print_ISBN :
978-1-4673-4497-5
Type :
conf
Filename :
6320923
Link To Document :
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