Dynamic Simulation, Nonlinear Control and Collision Avoid- ance of Hydraulically Driven Large Redundant Manipulators
نویسندگان
چکیده
A detailed dynamic model of hydraulically driven mobile large-scale manipulators is presented. The model can be used as simulation model, for the calculation of the forces in the design process and for the development of the controllers, which are required for tracking given trajectories, but also to avoid vibrations. It takes into account all relevant coupling effects between hydraulic drives and arm elements as well as between flexible deformations and large nonlinear rigid body motion. The control concept makes use of the redundancy of the system in order to avoid collisions.
منابع مشابه
Optimum Trajectory Planning for Redundant and Hyper-redundant Manipulators through Inverse Dynamics
This paper presents a method to develop minimum energy trajectories for redundant/hyper-redundant manipulators with pre-defined kinematic and dynamic constraints. The optimal trajectory planning uses fifth order B-spline functions to represent the Cartesian coordinates of the end-effector and angles of the redundant links. The actuator torques are considered for the formulation of the cost func...
متن کاملInterval Analysis of Controllable Workspace for Cable Robots
Workspace analysis is one of the most important issues in the robotic parallel manipulator design. However, the unidirectional constraint imposed by cables causes this analysis more challenging in the cabledriven redundant parallel manipulators. Controllable workspace is one of the general workspace in the cabledriven redundant parallel manipulators due to the dependency on geometry parameter...
متن کاملObstacle avoidance control for redundant manipulators using collidability measure
We present an efficient obstacle avoidance control algorithm for redundant manipulators using a new measure called collidability measure. Considering moving directions of manipulator links, the collidability measure is defined as the sum of inverse of predicted collision distances between links and obstacles: This measure is suitable for obstacle avoidance since directions of moving links are a...
متن کاملModel-Based Control of Hydraulically Actuated Manipulators
Model-based controllers have successfully been applied to many electrically driven robotic manipulators to improve their tracking performance. The application to hydraulically actuated systems however is not straight forward, due to the nonlinear internal dynamics of the actuators. This paper presents the modelling of an experimental hydraulic robot arm and the implementation of a cascaded cont...
متن کاملAdaptive Voltage-based Control of Direct-drive Robots Driven by Permanent Magnet Synchronous Motors
Tracking control of the direct-drive robot manipulators in high-speed is a challenging problem. The Coriolis and centrifugal torques become dominant in the high-speed motion control. The dynamical model of the robotic system including the robot manipulator and actuators is highly nonlinear, heavily coupled, uncertain and computationally extensive in non-companion form. In order to overcome thes...
متن کامل