DocumentCode
486326
Title
A Nonlinear Position Feedback Controller for an Electro - Hydraulic Robot Arm
Author
Muller, Christian ; Van Landingham, H.F.
Author_Institution
Department of I.E.O.R., Virginia Polytechnic Institute and State University, Blacksburg, Virginia 24061
fYear
1985
fDate
19-21 June 1985
Firstpage
737
Lastpage
740
Abstract
This paper describes the set of equations for a hydraulic motor and associated electro-hydraulic servo-valve used in the design of electro-hydraulic robots for material handling equipment. The set of equations for the servo-valve, the hydraulic motor coupled to its servo-valve, and the hydraulic motor and its load, are individually described in order to build the functional block diagram. It is shown that the performance of such a motor used with position feedback control can be improved by a nonlinear filter.
Keywords
Adaptive control; Fluid flow; Gears; Nonlinear equations; Power system modeling; Robots; Servomotors; Shafts; Torque; Valves;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1985
Conference_Location
Boston, MA, USA
Type
conf
Filename
4788710
Link To Document