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Modelling and Control of a Hydraulic Actuated Large Scale Manipulator

  1. Richard Stadlmayr1,*,
  2. Kurt Schlacher2

Article first published online: 24 NOV 2004

DOI: 10.1002/pamm.200410052

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PAMM

PAMM

Volume 4, Issue 1, pages 141–142, December 2004

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How to Cite

Stadlmayr, R. and Schlacher, K. (2004), Modelling and Control of a Hydraulic Actuated Large Scale Manipulator. Proc. Appl. Math. Mech., 4: 141–142. doi: 10.1002/pamm.200410052

Author Information

  1. 1

    Linz Center of Mechatronics GmbH (LCM), Altenbergerstrasse 69, A-4040 Linz

  2. 2

    Institute of Automatic Control and Control Systems Technology, Christian Doppler Laboratory for Automatic Control of Mechatronic Systems in Steel Industries, Johannes Kelper University Linz, Altenbergerstrasse 69, A-4040 Linz

*Phone: +43 732 2468 -9733, Fax: +43 732 2468 -9734

Publication History

  1. Issue published online: 24 NOV 2004
  2. Article first published online: 24 NOV 2004

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Abstract

This contribution deals with the modelling and control of an elastic manipulator. The arm is actuated by a hydraulic ram due to the significant weight. The overall goal is to achieve good tracking of the tip, as well as to reject disturbances, which act on the flexible arm. The controller design is based on two approaches. A flatness-based feedforward control takes care of the tracking behaviour, and a passivity-based feedback law stabilizes the trajectories and suppresses the elastic vibrations. (© 2004 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)

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