Comparison of dynamic analysis of a Schilling hydraulic manipulator with experimental results

Details Comparison of dynamic analysis of a Schilling hydraulic manipulator with experimental results Comparison of dynamic analysis of a Schilling hydraulic manipulator with experimental results

Jul 1993

adsabs.harvard.edu/cgi-bin/nph-data_query?bibcode=1993stin...9427780b&link_type=abstract

Presented at the 9th International Conference on Mathematical and Computer Modelling, Berkeley, CA, 26-29 Jul. 1993

Computer Science

Robotics

Computerized Simulation, Control Theory, Feedback Control, Hydraulic Equipment, Manipulators, Robotics, Active Control, Actuators, Damping, Hydraulic Control, Mathematical Models

Scientific paper

Two independent models of the dynamics of a Schilling Titan II hydraulic manipulator were developed and compared in order to obtain an accurate model of the manipulator dynamics. These models will be used in the development of feedback control laws and active damping algorithms. One of the models is an analytical model which was developed 'by hand' with the assistance of computer symbolic manipulation. The other is a numerical model developed using a commercially available dynamics code. The data from these models were then compared with experimental data from an actual Titan II manipulator.

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