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Memorias de investigación
Ponencias en congresos:
Hybrid Position-Force Control of Climbing Parallel Robot using Electrohydraulic Servo Actuators
Año:2011
Áreas de investigación
  • Ingenierías
Datos
Descripción
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
Internacional
Si
Nombre congreso
ASME 2011 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2011. 35th Mechanisms and Robotics Conference
Tipo de participación
960
Lugar del congreso
Washington, D.C., U.S.A.
Revisores
Si
ISBN o ISSN
978-0-7918-5483-9
DOI
Fecha inicio congreso
28/08/2011
Fecha fin congreso
31/08/2011
Desde la página
1203
Hasta la página
1210
Título de las actas
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
Esta actividad pertenece a memorias de investigación
Participantes
  • Autor: Lisandro Jose Puglisi . (UPM)
  • Autor: Ilka Arelys Banfield Chamorro (UPM)
  • Autor: Roque Jacinto Saltaren Pazmiño (UPM)
  • Autor: Rafael Aracil Santonja (UPM)
Grupos de investigación, Departamentos, Centros e Institutos de I+D+i relacionados
  • Creador: Departamento: Automática, Ingeniería Electrónica e Informática Industrial
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