Modeling, parameter identification and model-based control of a lightweight robotic manipulator

2013 ◽  
Author(s):  
Vinzenz Bargsten ◽  
Pablo Zometa ◽  
Rolf Findeisen
Keyword(s):  
Parameter Identification ◽  
Robotic Manipulator ◽  
Model Based Control ◽  
Model Based

Parameter Identification for Model-Based Control of Hydraulically Actuated Open-Chain Manipulators

2019 ◽  
Author(s):  
Lionel Hulttinen ◽  
Janne Koivumäki ◽  
Jouni Mattila
Keyword(s):  
Parameter Identification ◽  
Nonlinear Model ◽  
A Priori ◽  
Chamber Pressure ◽  
Hydraulic Actuator ◽  
Open Chain ◽  
Model Based Control ◽  
Model Based ◽  
Inertial Parameters ◽  
Manipulator Link

Abstract In this paper, a nonlinear model-based controller with parameter identification is designed for a rigid open-chain manipulator arm actuated by servovalve-controlled hydraulic cylinders. The arising problem in adopting model-based controllers is how to acquire accurate estimates of system parameters, with limited available information about either the hydraulic actuator parameters or manipulator link inertial parameters. The objective of this study is to identify both the rigid-body parameters of the links and the hydraulic actuator parameters from collected cylinder chamber pressure and joint angle data, while no a priori knowledge of these parameters is available. Same physical plant models are used for control design as well as for parameter identification. Experimental results show that the proposed nonlinear model-based control scheme results in acceptable Cartesian position tracking performance in free-space motion when using the identified parameters.

scholarly journals Analytical, Experimental, and Numerical Investigation of Energy in Hydraulic Cylinder Dynamics of Agriculture Scale Excavators

Energies ◽  
2021 ◽  
Vol 14 (19) ◽  
pp. 6210
Author(s):  
Ryo Arai ◽  
Satoru Sakai ◽  
Akihiro Tatsuoka ◽  
Qin Zhang
Keyword(s):  
Parameter Identification ◽  
Numerical Investigation ◽  
Physical Parameter ◽  
Hydraulic Cylinder ◽  
Point Of View ◽  
Laboratory Scale ◽  
Model Based Control ◽  
Model Based ◽  
Modeling Errors ◽  
Numerical Simulator

This paper discusses energy behaviors in hydraulic cylinder dynamics, which are important for model-based control of agriculture scale excavators. First, we review hydraulic cylinder dynamics and update our physical parameter identification method to agriculture scale experimental excavators in order to construct a nominal numerical simulator. Second, we analyze the energy behaviors from the port-Hamiltonian point of view which provides many links to model-based control at laboratory scale at least. At agriculture scale, even though the nominal numerical simulator is much simpler than an experimental excavator, the analytical, experimental, and numerical energy behaviors are very close to each other. This implies that the port-Hamiltonian point of view will be applicable in agriculture scale against modeling errors.

Model-based Control Techniques for Large-Scale High-Precision Stage

2020 ◽  
Vol 140 (4) ◽  
pp. 272-280
Author(s):  
Wataru Ohnishi ◽  
Hiroshi Fujimoto ◽  
Koichi Sakata
Keyword(s):  
High Precision ◽  
Large Scale ◽  
Model Based Control ◽  
Precision Stage ◽  
Control Techniques ◽  
Model Based
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