On modeling, identification, and control of a heavy-du electrohydraulic harvester manipulator

Papadopoulos, E; Mu, B; Frenette, R

dc.contributor.author	Papadopoulos, E	en
dc.contributor.author	Mu, B	en
dc.contributor.author	Frenette, R	en
dc.date.accessioned	2014-03-01T11:44:35Z
dc.date.available	2014-03-01T11:44:35Z
dc.date.issued	2003	en
dc.identifier.issn	1083-4435	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/37017
dc.subject	Cartesian control	en
dc.subject	Heavy-duty hydraulic manipulators	en
dc.subject	Hydraulic servo control	en
dc.subject	Parameter identification	en
dc.subject.classification	Automation & Control Systems	en
dc.subject.classification	Engineering, Manufacturing	en
dc.subject.classification	Engineering, Electrical & Electronic	en
dc.subject.classification	Engineering, Mechanical	en
dc.subject.other	Actuators	en
dc.subject.other	Closed loop control systems	en
dc.subject.other	Dynamic response	en
dc.subject.other	Feedforward neural networks	en
dc.subject.other	Harvesters	en
dc.subject.other	Hydraulic servomechanisms	en
dc.subject.other	Manipulators	en
dc.subject.other	Mathematical models	en
dc.subject.other	Parameter estimation	en
dc.subject.other	Cartesian control	en
dc.subject.other	Electrohydraulic systems	en
dc.subject.other	Mechatronics	en
dc.title	On modeling, identification, and control of a heavy-du electrohydraulic harvester manipulator	en
heal.type	other	en
heal.identifier.primary	10.1109/TMECH.2003.812820	en
heal.identifier.secondary	http://dx.doi.org/10.1109/TMECH.2003.812820	en
heal.language	English	en
heal.publicationDate	2003	en
heal.abstract	This paper focuses on modeling, parameter estimation, and control for a heavy-duty electrohydraulic manipulator of a harvester machine. The linear-graph method is implemented in deriving mathematical models for the swing, boom and stick subsystems. Actuation dynamics are subsequently integrated with manipulator dynamics to result in a complete machine model. Identification procedures employed in estimating physical parameters are discussed in detail and key parameter results supplied. Model validation studies show good agreement between model predictions and experiments. A Cartesian controller for the motion of the manipulator end-point is described and response results are presented. It is shown that the obtained response is very good for the purposes of this harvester machine, resulting in very small relative tracking errors.	en
heal.publisher	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC	en
heal.journalName	IEEE/ASME Transactions on Mechatronics	en
dc.identifier.doi	10.1109/TMECH.2003.812820	en
dc.identifier.isi	ISI:000183665200004	en
dc.identifier.volume	8	en
dc.identifier.issue	2	en
dc.identifier.spage	178	en
dc.identifier.epage	187	en