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On Modeling, Identification and Control of a Heavy-duty Electrohydraulic Harvester Manipulator (2003)
| Content Provider | CiteSeerX |
|---|---|
| Author | Papadopoulos, Evangelos Mu, Bin Frenette, Réal |
| Abstract | 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. Index Terms—Cartesian control, heavy-duty hydraulic manipulators, hydraulic servo control, parameter identification. I. |
| File Format | |
| Journal | IEEE/ASME Transactions on Mechatronics |
| Language | English |
| Publisher Date | 2003-01-01 |
| Access Restriction | Open |
| Subject Keyword | Heavy-duty Electrohydraulic Harvester Manipulator Harvester Machine Manipulator Dynamic Model Prediction Parameter Estimation Manipulator End-point Linear-graph Method Good Agreement Heavy-duty Electrohydraulic Manipulator Key Parameter Result Identification Procedure Index Term Cartesian Control Complete Machine Model Hydraulic Servo Control Parameter Identification Model Validation Study Cartesian Controller Small Relative Tracking Error Physical Parameter Response Result Mathematical Model Heavy-duty Hydraulic Manipulator Stick Subsystem Actuation Dynamic |
| Content Type | Text |
| Resource Type | Article |
