Joint space controller design for electrohydraulic servos

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dc.contributor.author Davliakos, I en
dc.contributor.author Zafiris, A en
dc.contributor.author Papadopoulos, E en
dc.date.accessioned 2014-03-01T02:51:07Z
dc.date.available 2014-03-01T02:51:07Z
dc.date.issued 2007 en
dc.identifier.uri http://hdl.handle.net/123456789/35376
dc.subject.other Cartesian trajectories en
dc.subject.other Electrohydraulic servos en
dc.subject.other Hydraulics dynamics en
dc.subject.other Joint space controllers en
dc.subject.other Actuators en
dc.subject.other Degrees of freedom (mechanics) en
dc.subject.other Equations of motion en
dc.subject.other Feedback control en
dc.subject.other Inverse kinematics en
dc.subject.other Mathematical models en
dc.subject.other Servomechanisms en
dc.title Joint space controller design for electrohydraulic servos en
heal.type conferenceItem en
heal.identifier.primary 10.1109/CACSD.2006.285446 en
heal.identifier.secondary http://dx.doi.org/10.1109/CACSD.2006.285446 en
heal.identifier.secondary 4064750 en
heal.publicationDate 2007 en
heal.abstract This paper focuses on the joint space control of mechanical systems with electrohydraulic servos. Using mechanism inverse kinematics, desired Cartesian trajectories yield desired actuator trajectories, which are fed to a novel model-based controller. Rigid body equations of motion and hydraulics dynamics, including friction and servovalve models are employed. The developed feedback controller uses the system dynamic and hydraulic model to yield servovalve currents. As an example, the developed controller is applied to a single degree-of-freedom (dof) servomechanism. Identification procedures employed in estimating the physical parameters of the experimental single dof servomechanism are discussed. In contrast to other approaches, here, force, pressure or acceleration feedback is not required. Simulations with typical desired trajectory inputs are presented and a good performance of the controller is obtained. © 2006 IEEE. en
heal.journalName Proceedings of the 2006 IEEE Conference on Computer Aided Control Systems Design, CACSD en
dc.identifier.doi 10.1109/CACSD.2006.285446 en
dc.identifier.spage 796 en
dc.identifier.epage 801 en

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