Next: Control of Mechanisms Up: Manipulators and Actuators Previous: Hydraulic Manipulator Shoulder

System Identification of High-Performance Hydraulic Actuators

Authors: [tex2html_wrap4282]B. Boulet, L. Daneshmend, V. Hayward, J. F. Mougenet, C. Nemri

Investigator username: hayward

Category: robotics

Subcategory: manipulators and actuators

System identification of the above mentioned actuators was carried out in view of their control. The actuator properties and performance was identified and an analytical model was derived leading to an accurate software simulator including all the dominant non-linear elements. From this model, several laws designed to accomodate the control of two or more kinematically coupled actuators have been proposed and are currently under experimental evaluation. (See Figure 19).