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

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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


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