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Part 1 discussed the origin of position error due to servovalve port underlap and how it varied with actuator load force. Part 2 now shows experimental support to the steady-state theory, and also establishes the dynamic model of the closed-loop system. Three approaches are then discussed with a view to positional accuracy improvement in a robotic manipulator application. These three approaches are concerned with either computer software implementation or a combination of software and hydraulic hardware implementation.
American Control Conference, 1987
Date of Conference: 10-12 June 1987