Joint space controller design for electrohydraulic servos

Davliakos, I; Zafiris, A; Papadopoulos, E

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	https://dspace.lib.ntua.gr/xmlui/handle/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