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Transputer control of hydraulic actuators and robots

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1 Author(s)
Conrad, F. ; Control Eng. Inst., Tech. Univ. Denmark, Lyngby, Denmark

The paper reports and discusses results from a Danish mechatronic research program focusing on intelligent actuators for intelligent motion control. A mechatronic test facility with a transputer controlled hydraulic robot suitable for real-time experimentation and evaluation of control laws and algorithms is described. Concepts of intelligent motion control and intelligent hydraulic actuators are proposed. Promising experimental path-tracking results obtained from model-based adaptive control algorithms are presented and discussed. The experiments confirm that transputers have significant advantages in intelligent control of actuators and robots for high-speed and high-precision tasks. Further, research on learning controllers and hybrid controller architecture, including real-time switching between control algorithms, benefits from applying transputer technology

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Industrial Electronics, IEEE Transactions on  (Volume:43 ,  Issue: 1 )