Modeling and Control of Motion Systems for an Electro-Hydraulic Tripod Manipulator

被引：0
|
作者：
Wos, Piotr [1 ]
Dindorf, Ryszard [1 ]
机构：
[1] Kielce Univ Technol, Al Tysiaclecia Panstwa Polskiego 7, PL-25314 Kielce, Poland
来源：
DYNAMICAL SYSTEMS IN APPLICATIONS | 2018年 / 249卷
关键词：
Electro-hydraulic parallel manipulator; Kinematics; Dynamic model; Control system;
D O I：
10.1007/978-3-319-96601-4_39
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
The paper presents the results of theoretical considerations, experimental studies and control of electro-hydraulic servo control of manipulator. The structure of the device together with an analysis of its kinematic structure is described. The structure of dynamic manipulator model is derived from each axis dynamic model. The issue that has been discussed, focused on providing robust of electro-hydraulic servo controller to change the dynamic properties. The results of simulation and experimental tests data are presented and analyzed.
引用
收藏
页码：439 / 450
页数：12
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