Abstract
Abstract—This paper presents Cartesian-space PD control of a hydraulic manipulator. The approach based upon Virtual spring-damper hypothesis is composed of virtual spring effects and virtual damper effects in task space. It has been applied to electrically driven robots. This experiment shows the comparison of Cartesian-space control with typical joint-space control in the performance of straight-line motion for the hydraulic manipulator that easily generate movements of manipulator without spending a huge amount of computational cost.
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