This article presents the identification and control of an electro-hydraulic crane. The crane is of the type used on forestry vehicles known as forwarders, which travel off-road collecting logs cut by the harvesters. The dynamics identified include significant frictional forces, dead zones, and structural and hydraulic vibrations. The control algorithm proposed, comprised of a linear controller...

This paper presents the modelling of a moving coil actuator for use as an element in a High Redundancy Actuator (HRA). A single element model is derived from first principles and verified using experimental data. This model is subsequently used to describe an approach to deriving models of multi-element HRAs and determine the effect of a variety of faults, chosen to be appropriate for the elect...

A versatile, actuator-based open machine architecture is needed to meet the increasing performance demands of modern mechanical systems. Actuators in such systems must have a complete knowledge of operating characteristics, with the ability to reconfigure resources to adapt to different conditions or user-choices.This generality of response is termed as intelligence. To achieve this objective, ...

We introduce a soft actuator for grippers using DEA capable of bending actuation. The actuator is also able to generate the electro-adhesion by the fringe field formed at the edges of the electrodes. The adhesion improves the holding force and ensures the conformation of the structure to the object. After the characterization of the actuator, we develop a 2finger soft gripper capable of holding...

In recent years, robots that coexist with human are under active researches. Such robots need high safety, backdriveability, large generative force, high speed response, good controllability, and so on. We have put emphasis on the backdriveability and created a novel prototype linear actuator with an ER (Electro-Rheological) gel, a new functional material. It is an all-purpose actuator satisfyi...

This study presents application of Dynamic Programming towards finding globally optimal control policies of a new, highly-efficient hydraulic elevator architecture. The architecture employs an actuator, three accumulators, and two hydraulic circuits bridged by a hydraulic transformer. An auxiliary electric motor exists only to compensate for system losses. Prior research identified a multitude ...