Modelling and Control of a Hydraulic Actuated Large Scale Manipulator

Description

This contribution deals with the modelling and control of an elastic manipulator. The arm is actuated by a hydraulic ram due to the significant weight. The overall goal is to achieve good tracking of the tip, as well as to reject disturbances, which act on the flexible arm. The controller design is based on two approaches. A flatness-based feedforward control takes care of the tracking behaviour, and a passivity-based feedback law stabilizes the trajectories and suppresses the elastic vibrations.

Period	22 Mar 2004
Event title	GAMM Annual Meeting 2004
Event type	Conference
Location	GermanyShow on map