Title :
Verified simulation of a hydraulic drive
Author :
Fansten, D. ; Möllers, Thomas ; Traczinski, Holger
Author_Institution :
Dept. of Inf. II, Gerhard-Mercator-Univ., Duisburg, Germany
Abstract :
To obtain reliable simulation results in the context of uncertain data and error propagation we use interval arithmetics and a self acting error calculus, and apply these methods to a hydraulic driven elastic robot. We describe a new explicit Sugeno-Takagi fuzzy model representation of a hydraulic differential cylinder with servo valve and show that a verification of the simulation results is possible in most cases, and that only small errors occur
Keywords :
drives; error analysis; fuzzy control; hydraulic systems; robot dynamics; simulation; valves; Sugeno-Takagi fuzzy model; elastic robot; error calculus; error propagation; hydraulic differential cylinder; hydraulic drive; interval arithmetics; servo valve; simulation; Calculus; Computational modeling; Computer errors; Error correction; Floating-point arithmetic; Hydraulic drives; Laboratories; Robots; Servomechanisms; Valves;
Conference_Titel :
Robot Motion and Control, 1999. RoMoCo '99. Proceedings of the First Workshop on
Conference_Location :
Kiekrz
Print_ISBN :
0-7803-5655-1
DOI :
10.1109/ROMOCO.1999.791047
