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

T. Wey; M. Lemmen; W. Bernzen

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

T. Wey
, M. Lemmen
, W. Bernzen

Dynamics and Control

Research output: Chapter in Book/Report/Conference proceeding › Chapter › Academic › peer-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 language	English
Title of host publication	Fifth European Control Conference (ECC '99), 31 August - 3 September 1999, Karlsruhe, Germany
Publication status	Published - 1999
Event	5th European Control Conference, ECC 1999 - Karlsruhe, Germany Duration: 31 Aug 1999 → 3 Sept 1999 Conference number: 5

Conference

Conference	5th European Control Conference, ECC 1999
Abbreviated title	ECC99
Country/Territory	Germany
City	Karlsruhe
Period	31/08/99 → 3/09/99

Cite this

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title = "Hydraulic actuators for flexible robots : a flatness based approach for tracking and vibration control",

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.",

author = "T. Wey and M. Lemmen and W. Bernzen",

year = "1999",

language = "English",

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

note = "5th European Control Conference, ECC 1999, ECC99 ; Conference date: 31-08-1999 Through 03-09-1999",

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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.

N1 - Conference code: 5

PY - 1999

Y1 - 1999

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

T2 - 5th European Control Conference, ECC 1999

Y2 - 31 August 1999 through 3 September 1999

ER -

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

Abstract

Conference

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