Abstract
Powerful rescue manipulators are needed to rescue the victims from collapsed houses when earthquake happened. In this paper a new kind of 4 Degrees-of-Freedom (4DOF) redundant hydraulic manipulator is proposed which is expected to be human-cooperative and to execute tasks of manipulating heavy loads, assisting the human power. It consists of large size 2DOFs and small size 2DOFs. Because the large size 2DOFs is massive, the driving system is not designed for fine movements while on the other hand it is suitable for large ones. Only the small size 2DOFs is employed to carry out the fine power-assist tasks. This paper is focused on the design of the controller. First a motion control scheme in conjunction with virtual impedance model is applied to the proposed hydraulic power-assist system. Then a force control method is exploited. Filially a hybrid control scheme using the force control and the motion control alternately is conducted in one working task. The novel hydraulic manipulator is further discussed through some experiments.
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