Modeling and control of a hydraulically actuated flexible-prismatic link robot

Author

Love, Lonnie ; Kress, Reid ; Jansen, John

Author_Institution

Robotics & Process Syst., Oak Ridge Nat. Lab., TN, USA

Volume

1

fYear

1997

fDate

20-25 Apr 1997

Firstpage

669

Abstract

Most of the research related to flexible link manipulators to date has focused on single link, fixed length, single plane of vibration test beds. In addition, actuation has been predominantly based upon electromagnetic motors. Ironically, these elements are rarely found in the existing industrial long reach systems. This paper describes a new hydraulically actuated, long reach manipulator with a flexible prismatic link at Oak Ridge National Laboratory (ORNL). Focus is directed towards both modeling and control of hydraulic actuators as well as flexible links that have variable natural frequencies

Keywords

actuators; control nonlinearities; flexible structures; hydraulic control equipment; limit cycles; manipulator dynamics; vibration control; Oak Ridge National Laboratory; dynamics; flexible link manipulators; flexible-prismatic link; hydraulic actuators; hydraulic drives; limit cycle; long reach manipulator; modeling; nonlinearities; Bandwidth; Frequency; Laboratories; Manipulators; Position measurement; Robot control; Robot sensing systems; Testing; Vibration control; Vibration measurement;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on

Conference_Location

Albuquerque, NM

Print_ISBN

0-7803-3612-7

Type

conf

DOI

10.1109/ROBOT.1997.620113

Filename

620113