Modeling and control of hydraulic rotary actuators used in forestry cranes
2009 (English)In: ICRA: 2009 IEEE international conference on robotics and automation, vols 1-7, 2009, 2161-2166 p.Conference paper (Refereed)Text
The steps for modeling and control of a hydraulic rotary actuator are discussed. Our aim is to present experimental results working with a particular sensing device for angular position as a complement to pressure sensing devices. We provide the steps in experimental system identification used for modeling the system dynamics. The cascade controller designed contains an inner loop for an accurate tracking of torque while stabilizing position reference trajectories. The performance of this design is experimentally verified.
Place, publisher, year, edition, pages
2009. 2161-2166 p.
, IEEE International Conference on Robotics and Automation-ICRA, ISSN 1050-4729
Robotics in Agriculture and Forestry, Hydraulic Manipulator, System Identification, Control Design
IdentifiersURN: urn:nbn:se:umu:diva-116046ISI: 000276080401038ISBN: 978-1-4244-2788-8OAI: oai:DiVA.org:umu-116046DiVA: diva2:903263
IEEE International Conference on Robotics and Automation, MAY 12-17, 2009, Kobe, JAPAN