Generalized predictive control of a robotic manipulator with hydraulic actuators

This paper presents some aspects of the behavior of hydraulically actuated heavy duty manipulators. This category of manipulators is used extensively in large resource based industries and any improvement in efficiency may result in major financial benefits. In this paper an adaptive control algorithm is used for a two rigid link manipulator driven by hydraulic actuators. The dynamic model of the manipulator is derived as well as the models of the hydraulic actuators including compliance, dead time and full dynamics of the servo valves. An adaptive control algorithm is considered since changes lPh,D. Student in Comput.er A,jded Manufacturing and Robotic Laboratory (CAMROL), Department of Mechanical EDI"inec:rinl, Univc:nity of Brit-jib Columbia. 2profeuor, Department of Mechanical Engineering University of Briti5h Columbia. and Founding Fellow of the Britilh Columbia Advanced SYllenu lnatitute. 3profe...or, DeparlJ:nl:nt of Electrical Enginec:rine;, University of Britilh Columbia, and Founding Fellow of the Briti.h Colwnbia Advanced System Inttitut.c:. ·Po.l Dodoral fellow, Department of Elc:c1.-:,ical Ensinec:ring, Univcnity of Brit-jah Columbia.