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Memorias de investigación
Communications at congresses:
Hybrid Position-Force Control of Climbing Parallel Robot using Electrohydraulic Servo Actuators
Year:2011
Research Areas
  • Engineering
Information
Abstract
An Hybrid Position-Force control scheme for hydraulic actuators is proposed for a Climbing Parallel Robot (CPR) based on a Stewart-Gough mechanism. The hydraulics actuators are modeled, and expressed as state-space variables. The parameter identification is based on experimental data and the box-grey identification procedure, using a minimization prediction error criterion. A cascade control strategy with feedback linearization and state estimation based on two control loops is used for each hydraulic actuator. The control strategy proposed for the hydraulic actuator is implemented in a real prototype, considering a position tracking task. The model of the actuators are included in the dynamic model of the CPR obtained via the virtual work formulation, which considers the thirteen bodies that composes the Stewart-Gough robot. The proposed controller is simulated and implemented on the CPR to test the limits of its performance and the real effects of friction. The results obtained from simulation and experiments are presented and discussed
International
Si
Congress
ASME 2011 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2011. 35th Mechanisms and Robotics Conference
960
Place
Washington, D.C., U.S.A.
Reviewers
Si
ISBN/ISSN
978-0-7918-5483-9
Start Date
28/08/2011
End Date
31/08/2011
From page
1203
To page
1210
Proceedings of the ASME 2011 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2011, Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B. DETC2011/MECH-48349
Participants
  • Autor: Lisandro Jose Puglisi . (UPM)
  • Autor: Ilka Arelys Banfield Chamorro (UPM)
  • Autor: Roque Jacinto Saltaren Pazmiño (UPM)
  • Autor: Rafael Aracil Santonja (UPM)
Research Group, Departaments and Institutes related
  • Creador: Departamento: Automática, Ingeniería Electrónica e Informática Industrial
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