Compliance Control Using Hydraulic Heavy-Duty Manipulator

Li, Lianpeng; Xie, Liang-Liang; Luo, Xiong; Wang, Zhiliang

doi:10.1109/tii.2018.2873256

Cited by 26 publications

(12 citation statements)

References 20 publications

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“…These equations come to complete the proof of the differential flatness property of the state-space model of the multi-DOF (2-DOF) electro-hydraulic robotic manipulator. By defining setpoints x 1 d and x 3 d for the state variables x 1 and x 3 which are also the flat outputs of the robotic model, one can compute next the functions of the setpoints of the rest of the state variables of the system, with the use of (24), (25), (27), (29) and (31).…”

Section: Dynamic Model Of the Multi-dof Electrohydraulic Manipulatormentioning

confidence: 99%

“…Hydraulic heavyduty manipulators are irreplaceable for heavy workpiece handling. They improve the efficiency of fine manipulation of heavy loads, thus ensuring production, safety and reducing labour costs [13][14][15]. Comparing against electric actuators, hydraulic actuators have the advantage of producing high power while having a smaller size [16,17].…”

Section: Introductionmentioning

confidence: 99%

“…There is ongoing research on the non-linear control problem of hydraulic manipulators in several engineering tasks [7,[27][28][29][30]. In this paper, a novel non-linear optimal control method is developed for multi-DOF electro-hydraulic robotic manipulators [1].…”

Section: Introductionmentioning

confidence: 99%

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Non‐linear optimal control for multi‐DOF electro‐hydraulic robotic manipulators

Rigatos

Zervos

Abbaszadeh

et al. 2020

IET cyber-systems robotics

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A non-linear optimal (H-infinity) control approach is proposed for the dynamic model of multi-degree-of-freedom (DOF) electro-hydraulic robotic manipulators. Control of electro-hydraulic manipulators is a non-trivial problem because of their non-linear and multi-variable dynamics. In this study, the considered robotic system consists of a multi-link robotic manipulator that receives actuation from rotary electro-hydraulic drives. The article's approach relies first on approximate linearisation of the state-space model of the electro-hydraulic manipulator, according to first-order Taylor series expansion and the computation of the related Jacobian matrices. For the approximately linearised model of the manipulator, a stabilising H-infinity feedback controller is designed. To compute the controller's gains, an algebraic Riccati equation is solved at each time-step of the control algorithm. The global stability properties of the control scheme are proven through Lyapunov analysis. The proposed control method retains the advantages of typical optimal control, i.e. fast and accurate tracking of the reference setpoints under moderate variations of the control inputs.

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Section: Dynamic Model Of the Multi-dof Electrohydraulic Manipulatormentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Non‐linear optimal control for multi‐DOF electro‐hydraulic robotic manipulators

Rigatos

Zervos

Abbaszadeh

et al. 2020

IET cyber-systems robotics

View full text Add to dashboard Cite

show abstract

“…The control model converts the desired position and attitude into joint angular displacements, which are then converted into driving torques. The dynamic model of this HDIM is described detailedly in [37].…”

Section: A Cosimulation Systemmentioning

confidence: 99%

Data Logic Attack on Heavy-Duty Industrial Manipulators

Xie

Hao

et al. 2020

IEEE Access

Self Cite

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The anticipated widespread use of the heavy-duty industrial manipulator (HDIM) makes it an important role in the field of modern industrial automation. Research on the attack of cyber-physical systems based on industrial manipulator vulnerabilities is booming, while there are few studies on the data logic and attack impact for HDIMs. This paper proposes a new cyber-physical attack mechanism named data logic attack mechanism on HDIMs, including network protocol data logic attack, system data integrity logic attack, and process logic attack. Meanwhile, data logic attack models for HDIMs and an attack impact analysis model are established. Besides, for the proposed data logic attack mechanism, a hardware-in-theloop cosimulation based on Simulink and Adams is carried out to demonstrate the impact of data logic attacks on the system integrity, availability, accuracy, and integrity. A test platform has also been established to test the attack mechanism's effectiveness. The results of cosimulation and test show the attack impact ranking and effectiveness of the attack mechanism. INDEX TERMS Industrial manipulator, data logic attack, impact analysis model, cosimulation.

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“…For example, Kivelä et al [7] from Tampere University in Finland designed an 8-DOF hydraulic manipulator for the International Thermonuclear Experimental Reactor and found that its redundancy feature was beneficial for optimizing the execution of remote handling tasks. Liang et al [8] designed a 7-DOF HRM with seven revolute joints for rescue areas during natural disasters. Li et al [9] developed a 7-DOF HRM for industrial manufacturing; this HRM consisted of five revolute joints and two prismatic ones.…”

Section: Introductionmentioning

confidence: 99%

Development of a redundant anthropomorphic hydraulically actuated manipulator with a roll-pitch-yaw spherical wrist

et al. 2021

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The demand for redundant hydraulic manipulators that can implement complex heavy-duty tasks in unstructured areas is increasing; however, current manipulator layouts that remarkably differ from human arms make intuitive kinematic operation challenging to achieve. This study proposes a seven-degree-of-freedom (7-DOF) redundant anthropomorphic hydraulically actuated manipulator with a novel roll-pitch-yaw spherical wrist. A hybrid series-parallel mechanism is presented to achieve the spherical wrist design, which consists of two parallel linear hydraulic cylinders to drive the yaw/pitch 2-DOF wrist plate connected serially to the roll structure. Designed as a 1RPRRR-1SPU mechanism (“R”, “P”, “S”, and “U” denote revolute, prismatic, spherical, and universal joints, respectively; the underlined letter indicates the active joint), the 2-DOF parallel structure is partially decoupled to obtain simple forward/inverse kinematic solutions in which a closed-loop subchain “RPRR” is included. The 7-DOF manipulator is then designed, and its third joint axis goes through the spherical center to obtain closed-form inverse kinematic computation. The analytical inverse kinematic solution is drawn by constructing self-motion manifolds. Finally, a physical prototype is developed, and the kinematic analysis is validated via numerical simulation and test results.

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Compliance Control Using Hydraulic Heavy-Duty Manipulator

Cited by 26 publications

References 20 publications

Non‐linear optimal control for multi‐DOF electro‐hydraulic robotic manipulators

Non‐linear optimal control for multi‐DOF electro‐hydraulic robotic manipulators

Data Logic Attack on Heavy-Duty Industrial Manipulators

Development of a redundant anthropomorphic hydraulically actuated manipulator with a roll-pitch-yaw spherical wrist

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