Abstract
In this research work, we are studying the accurate trajectory control at the end of a 6-axes hydraulic manipulator regarding r obustness with respecto changes in the system parameters that has unstable characteristics. In particular, interference in the var ious axes becomes important for improving the accurate trajectory control, and disturbance estimation and compensation by an observer are applied and evaluated by independent servo-system for each joint. As a result, it was verified by experimenthat robust, stable accurate trajectory control can always be achieved against fluctuations in the moment of inertia caused by changes in the attitude of the manipulator, and against the nonlinear disturbances, such as axis interference, that are characteristics of a multi-jointed arm.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
More From: Proceedings of the JFPS International Symposium on Fluid Power
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.