Identification and control of a hydraulic forestry crane
2008 (English)In: Proceedings of the 17th IFAC World Congress: COEX, South Korea, Elsevier , 2008, 2306-2311 p.Conference paper (Refereed)
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.
Identification and control methods; Robots manipulators; Autonomous robotic systems
IdentifiersURN: urn:nbn:se:umu:diva-20057DOI: 10.3182/20080706-5-KR-1001.2344ISBN: 978-3-902661-00-5OAI: oai:DiVA.org:umu-20057DiVA: diva2:208031