Electro-hydraulically actuated forestry manipulator: Modeling and Identification
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 (Refereed)
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.
, IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858
IdentifiersURN: urn:nbn:se:umu:diva-72717DOI: 10.1109/IROS.2012.6385656ISI: 000317042703152ISBN: 978-1-4673-1736-8OAI: oai:DiVA.org:umu-72717DiVA: diva2:626847
25th IEEE\RSJ International Conference on Intelligent Robots and Systems (IROS), OCT 07-12, 2012, Algarve, Portugal