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Identification and control of a hydraulic forestry crane
Umeå University, Faculty of Science and Technology, Applied Physics and Electronics. (Robotics and Control Lab)
Umeå University, Faculty of Science and Technology, Applied Physics and Electronics. (Robotics and Control Lab)
Computer Science and Artificial Intelligence Lab, Massachusetts Institute of Technology, Cambridge MA, 02139, USA. (Robotics and Control Lab)
Umeå University, Faculty of Science and Technology, Applied Physics and Electronics. (Robotics and Control Lab)
2008 (English)In: Proceedings of the 17th IFAC World Congress: COEX, South Korea, Elsevier , 2008, 2306-2311 p.Conference paper, Published paper (Refereed)
Abstract [en]

This article presents the identification and control of an electro-hydraulic crane. The crane is of the type used on forestry vehicles known as forwarders, which travel off-road collecting logs cut by the harvesters. The dynamics identified include significant frictional forces, dead zones, and structural and hydraulic vibrations. The control algorithm proposed, comprised of a linear controller and a compensator for nonlinearities, is able to accurately track a reference trajectory for the end effector, despite uncertainties in the arm mechanics and hydraulic system dynamics. A further control design is presented which uses an inner loop to compensate for vibrations in the hydraulic system, and its performance is experimentally verified.

Place, publisher, year, edition, pages
Elsevier , 2008. 2306-2311 p.
Keyword [en]
Identification and control methods; Robots manipulators; Autonomous robotic systems
Identifiers
URN: urn:nbn:se:umu:diva-20057DOI: 10.3182/20080706-5-KR-1001.2344ISBN: 978-3-902661-00-5 (print)OAI: oai:DiVA.org:umu-20057DiVA: diva2:208031
Available from: 2009-03-15 Created: 2009-03-15 Last updated: 2009-12-14Bibliographically approved

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CiteExportLink to record
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