Hydraulic actuators for flexible robots : a flatness based approach for tracking and vibration control

T. Wey, M. Lemmen, W. Bernzen

Research output: Chapter in Book/Report/Conference proceedingChapterAcademicpeer-review

Abstract

This paper deals with an application of the differential algebraic flatness approach to hydraulic drives. Here, an elastic robot arm driven by a differential cylinder is investigated. The task is to design a suitable control law which not only tracks a given trajectory but also allows the damping of the flexible arm. In general, the flatness-property of a dynamical system enables a "simple" approach to solve a given tracking control problem. Although the model of the differential cylinder is not flat, the tracking control in terms of flatness is possible if some of the state variables are measured. Furthermore, the control law is supplemented with a damping component, based on model matching. This approach to control is confirmed to be suitable through simulation results.
Original languageEnglish
Title of host publicationFifth European Control Conference (ECC '99), 31 August - 3 September 1999, Karlsruhe, Germany
Publication statusPublished - 1999
Event5th European Control Conference (ECC99) - Karlsruhe, Germany
Duration: 31 Aug 19993 Sep 1999
Conference number: 5

Conference

Conference5th European Control Conference (ECC99)
Abbreviated titleECC99
CountryGermany
CityKarlsruhe
Period31/08/993/09/99

Fingerprint

Hydraulic actuators
Vibration control
Robots
Damping
Hydraulic drives
Dynamical systems
Trajectories

Cite this

Wey, T., Lemmen, M., & Bernzen, W. (1999). Hydraulic actuators for flexible robots : a flatness based approach for tracking and vibration control. In Fifth European Control Conference (ECC '99), 31 August - 3 September 1999, Karlsruhe, Germany
Wey, T. ; Lemmen, M. ; Bernzen, W. / Hydraulic actuators for flexible robots : a flatness based approach for tracking and vibration control. Fifth European Control Conference (ECC '99), 31 August - 3 September 1999, Karlsruhe, Germany. 1999.
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Wey, T, Lemmen, M & Bernzen, W 1999, Hydraulic actuators for flexible robots : a flatness based approach for tracking and vibration control. in Fifth European Control Conference (ECC '99), 31 August - 3 September 1999, Karlsruhe, Germany. 5th European Control Conference (ECC99), Karlsruhe, Germany, 31/08/99.

Hydraulic actuators for flexible robots : a flatness based approach for tracking and vibration control. / Wey, T.; Lemmen, M.; Bernzen, W.

Fifth European Control Conference (ECC '99), 31 August - 3 September 1999, Karlsruhe, Germany. 1999.

Research output: Chapter in Book/Report/Conference proceedingChapterAcademicpeer-review

TY - CHAP

T1 - Hydraulic actuators for flexible robots : a flatness based approach for tracking and vibration control

AU - Wey, T.

AU - Lemmen, M.

AU - Bernzen, W.

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N2 - This paper deals with an application of the differential algebraic flatness approach to hydraulic drives. Here, an elastic robot arm driven by a differential cylinder is investigated. The task is to design a suitable control law which not only tracks a given trajectory but also allows the damping of the flexible arm. In general, the flatness-property of a dynamical system enables a "simple" approach to solve a given tracking control problem. Although the model of the differential cylinder is not flat, the tracking control in terms of flatness is possible if some of the state variables are measured. Furthermore, the control law is supplemented with a damping component, based on model matching. This approach to control is confirmed to be suitable through simulation results.

AB - This paper deals with an application of the differential algebraic flatness approach to hydraulic drives. Here, an elastic robot arm driven by a differential cylinder is investigated. The task is to design a suitable control law which not only tracks a given trajectory but also allows the damping of the flexible arm. In general, the flatness-property of a dynamical system enables a "simple" approach to solve a given tracking control problem. Although the model of the differential cylinder is not flat, the tracking control in terms of flatness is possible if some of the state variables are measured. Furthermore, the control law is supplemented with a damping component, based on model matching. This approach to control is confirmed to be suitable through simulation results.

M3 - Chapter

BT - Fifth European Control Conference (ECC '99), 31 August - 3 September 1999, Karlsruhe, Germany

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Wey T, Lemmen M, Bernzen W. Hydraulic actuators for flexible robots : a flatness based approach for tracking and vibration control. In Fifth European Control Conference (ECC '99), 31 August - 3 September 1999, Karlsruhe, Germany. 1999