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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Davliakos, Ioannis Zafiris, Athanassios Papadopoulos, Evangelos |
| Copyright Year | 2006 |
| Description | Author affiliation: National Technical University of Athens, Greece (Davliakos, Ioannis; Zafiris, Athanassios; Papadopoulos, Evangelos) |
| Abstract | This paper focuses on the joint space control of mechanical systems with electrohydraulic servos. Using mechanism inverse kinematics, desired Cartesian trajectories yield desired actuator trajectories, which are fed to a novel model-based controller. Rigid body equations of motion and hydraulics dynamics, including friction and servovalve models are employed. The developed feedback controller uses the system dynamic and hydraulic model to yield servovalve currents. As an example, the developed controller is applied to a single degree-of-freedom (dof) servomechanism. Identification procedures employed in estimating the physical parameters of the experimental single dof servomechanism are discussed. In contrast to other approaches, here, force, pressure or acceleration feedback is not required. Simulations with typical desired trajectory inputs are presented and a good performance of the controller is obtained. |
| Starting Page | 796 |
| Ending Page | 801 |
| File Size | 3992976 |
| Page Count | 6 |
| File Format | |
| ISBN | 0780397975 |
| DOI | 10.1109/CACSD-CCA-ISIC.2006.4776747 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2006-10-04 |
| Publisher Place | Germany |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Actuators Friction Force feedback Kinematics Control systems Electrohydraulics Servomechanisms Mechanical systems Adaptive control Equations |
| Content Type | Text |
| Resource Type | Article |
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