Abstract
Abstract The paper describes a very fast digitally controlled hydraulic test robot manipulator which has been developed and designed by the use of CAD/CAE-methods. The robot is implemented in the hydraulic laboratory at the Control Engineering Institute, the Technical University of Denmark. The purpose of the test robot manipulator is to carry out research activities within CAD/CAE in hydraulic control system design, digital control and adaptive control design and implementation. Furthermore the test robot is used for test and evaluation of off-line and on-line systemidentification methods and digital algorithms for modelling and adaptive control of multivariable hydraulic systems such as hydraulic robots, escavators og multi-axes test equipment. The paper describes and discusses the control and mechanical design problem and CAD/CAE-methods. The special software package KISMET and ROBCAD can be used in the design and 3D-animation of the robot manipulator for investigation of the robot and the workspace. The control design of the digital control system is done with the packages MATLAB and ACSL. The digital control computer is implemented with a fast AT&T-signalprocessor. A developed adaptive geometrical compensation control scheme is proposed for control of hydraulic robot manipulators
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