By Topic

Robust task-space control of hydraulic robots

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Becker, O. ; Inst. for Machine Tools & Production Eng., Technische Univ. Braunschweig, Germany ; Pietsch, I. ; Hesselbach, J.

This paper presents a model-based robust controller for hydraulically driven robot manipulators. The approach guarantees that the output error of the plant remains within a prescribed bound despite of model uncertainties. Manipulator dynamics and actuator dynamics including the dynamics of the valves are taken into account. The stability proof is based on the Lyapunov method and passivity arguments. It is shown that the stability proof is not restricted to the proposed control law of the hydraulic actuators but also holds for arbitrary hydraulic force control laws as long as certain requirements are fulfilled.

Published in:

Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on  (Volume:3 )

Date of Conference:

14-19 Sept. 2003