Modelling, simulation and control of a water hydraulic manipulator

摘要：

This paper describes the modelling, simulation and control of a water hydraulic manipulator, which is used for the remote handling tasks of divertor cassettes in the International Thermonuclear Experimental Reactor (ITER). Manipulators kinematics and dynamics are firstly analyzed. In the simulation model, mechanism is connected to the hydraulics via Jacobian matrix. Joint space filtered P-controller is proposed for the trajectory tracking. Preliminary experimental results show that in joint space the follow-up position errors are smaller than 0.02 deg at the speed of 0.3 deg/s. In the ideal case (no manufacturing tolerances, no uncertainties in deflections etc), the position accuracy of ± 1.4mm can be achieved in Cartesian space.

关键词： Water hydraulic manipulator Modelling Control

作者: Likui Zhai Tapio Virvalo Jouni Mattila

作者单位: Department of Intelligent Hydraulics and Automation Tampere University of Technology, Finland

会议类型: 国际会议

会议名称: The Seventh International Conference on Fluid Power Transmission and Control(第七届流体传动与控制国际学术会议 ICFP 2009))

会议地点: 杭州

会议语种:英文

页码: 549-553

在线出版日期: 2009-04-08（万方平台首次上网日期，不代表论文的发表时间）