A direct teaching control via Casimir of force sensorless hydraulic arms

This paper provides a direct teaching control via Casimir of hydraulic arms without the external force sensors which are fragile and unreliable in (not all but) some practical situations. First, a new representation is found for the linearized hydraulic arms. Second, via Hamiltonian and Casimir as structural property, a direct teaching control is proposed based on our previous control. Remarkably, the closed-loop system is physically interpretable and the external force sensors are not needed. Finally, the effectiveness of the proposed direct teaching control is confirmed experimentally.