Mathematical modelling and virtual decomposition control of heavy-duty parallel–serial hydraulic manipulators
نویسندگان
چکیده
This paper proposes a novel modelling approach for heavy-duty manipulator with parallel$-$serial structures connected in series. Each considered structure contains revolute segment rigid links by passive joint and actuated linear hydraulic actuator, thus forming closed kinematic loop. In addition, prismatic segments, consisting of joints driven actuators, also are considered. Expressions actuator forces derived using the Newton$-$Euler (N$-$E) dynamics formulation. The derivation process does not assume massless actuators decoupled from links, which is common Lagrange Actuator pressure included analysis, leading total to third-order system ordinary differential equations (ODEs). proposed model N$-$E framework, fewer parameters than its predecessors, inspires revision virtual decomposition control (VDC) systematic formulate law based on new model. stability each generic obtained, Lyapunov entire robot.
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ژورنال
عنوان ژورنال: Mechanism and Machine Theory
سال: 2022
ISSN: ['1873-3999', '0094-114X']
DOI: https://doi.org/10.1016/j.mechmachtheory.2021.104680