Dynamic Analysis and Control of Hydraulic Machine System and Industrial Robotic Manipulators

Abstract

Dynamic control on hydraulic machine system and kinematic control on industrial robotic manipulators are two studied topics in this research. The main objective of this study is to analyze dynamic, forward kinematic and inverse kinematic on a couple of mechanical systems and hydraulic mechanical systems in order to control these machines. The characteristics of hydraulic and manipulator robot parameters are firstly calculated by using dynamic theories. In the former topic, we perform an example on CNC machine tools which is designing a hydraulic controller to move a cutting tool along a circular path. Dynamics analysis, forward kinematics and inverse kinematics of industrial robotic are archived in the latter topic. Two experiments were also performed on RRR and RRRRRR manipulators by analyzing the inverse kinematic equations to make these robots follow the desired trajectories. This study takes innovations and achieves control improvement in different systems with optimization controller or trajectory planning.

Linear-Extended-State-Observer-Based Adaptive RISE Control for the Wrist Joints of Manipulators with Electro-Hydraulic Servo Systems

“…For manipulators with a 6-R (six rotating joint) configuration [15][16][17], the first three rotating joints (waist, shoulder, and elbow) can make the end reach any position in the 3D working space [18], and the last three rotating joints (wrist) are used to adjust the attitude of the end actuator, which is applicable to application scenarios requiring high-precision control of equal attitude in aerospace. It is not only necessary that the manipulators have excellent spatial positioning ability, but also the tracking and maintaining of the end attitude is particularly important.…”