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Electro-hydraulically actuated forestry manipulator: Modeling and Identification
Swedish University of Agricultural Sciences, Umeå, Sweden.
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics.
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics.
2012 (English)In: 2012 IEEE/RSJ Iinternational Conference on Intelligent Robots and Systems (IROS), New York: IEEE conference proceedings, 2012, 3399-3404 p.Conference paper, Published paper (Refereed)
Abstract [en]

We present results of modeling dynamics of a forestry manipulator, in which we consider its mechanics, as well as its hydraulic actuation system. The mathematical model of its mechanics is formulated by Euler-Lagrange equations, for which the addition of friction forces is straightforward. Dynamics of the hydraulic system is modeled upon first principle laws, which concern flow through orifices and fluid compressibility. These models lead to a set of equations with various unknown parameters, which are related to the inertias, masses, location of center of masses, friction forces, and valve coefficients. The numerical values of these parameters are estimated by the use of least-square methods, which is made feasible by transforming the models into linear representations. The results of simulation tests show a significant correspondence between measured and estimated variables, validating our modeling and identification approach.

Place, publisher, year, edition, pages
New York: IEEE conference proceedings, 2012. 3399-3404 p.
Series
IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858
National Category
Robotics
Identifiers
URN: urn:nbn:se:umu:diva-72717DOI: 10.1109/IROS.2012.6385656ISI: 000317042703152ISBN: 978-1-4673-1736-8 (print)OAI: oai:DiVA.org:umu-72717DiVA: diva2:626847
Conference
25th IEEE\RSJ International Conference on Intelligent Robots and Systems (IROS), OCT 07-12, 2012, Algarve, Portugal
Available from: 2013-06-10 Created: 2013-06-10 Last updated: 2016-02-15Bibliographically approved

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IROS_2012(1364 kB)210 downloads
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La Hera, PedroMorales, Daniel Ortiz

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La Hera, PedroRehman, Bilal UrMorales, Daniel Ortiz
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CiteExportLink to record
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Citation style
  • apa
  • ieee
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  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
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  • Other locale
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Output format
  • html
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