On Vibration Damping of Hydraulically Driven Flexible Robots

Bernzen, Werner

doi:10.1016/s1474-6670(17)44330-8

Cited by 7 publications

(4 citation statements)

References 5 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Robots for heavy loads and/or wide operating ranges with flexible links have become popular research objects for control engineers owing to their sophisticated properties [12]. The approach to active damping control for flexible multilink robots uses a spring damping element, which is a passive energy dissipation device [13]. K-E. Rydberg showed the weakness of elastic connections in the mounting of the cylinder and piston rod [14].…”

Section: Introductionmentioning

confidence: 99%

A Case Study of a Hydraulic Servo Drive Flexibly Connected to a Boom Manipulator Excited by the Cyclic Impact Force Generated by a Hydraulic Rock Breaker

Dindorf

Woś

2022

IEEE Access

View full text Add to dashboard Cite

show abstract

Section: Introductionmentioning

confidence: 99%

A Case Study of a Hydraulic Servo Drive Flexibly Connected to a Boom Manipulator Excited by the Cyclic Impact Force Generated by a Hydraulic Rock Breaker

Dindorf

Woś

2022

IEEE Access

View full text Add to dashboard Cite

show abstract

“…Robots for heavy loads and/or wide operating ranges with flexible links have become a popular research object for control engineers, owing to their sophisticated properties [12]. The approach of an active damping control for multi-link flexible robots uses the spring-damper element, which is a passive energy dissipative device [13]. Hydraulic actuators fail as a result of physical damage or deterioration of their seals.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Properties of a Hydraulic Servo Actuator Flexibly Connected to a Load Mass Excited by Cyclic Force

Dindorf

Woś

2020

Preprint

View full text Add to dashboard Cite

The study deals with the dynamic properties of a hydraulic servo actuator (HSA) with flexible mounting connections. This problem is considered in two cases: firstly, in the flexible (or non-rigid) mounting connection of the barrel and piston rod of a hydraulic actuator, and secondly, in the vibration isolation of a hydraulic actuator loaded with cyclic force. The difficult and complex dynamic problem of an HSA flexibly connected to a load mass excited by the impact force generated by a rock breaker was primarily analysed. The solution of a new design of the 3-DoF hydraulic boom manipulator used to move a medium-sized hydraulic rock breaker was presented. The HSA is rigidly mounted to the mother boom, and the piston rod is flexibly connected to the inner boom via a spring-damping device (SDD), which, in this case, serves as a vibration isolator. Simulation tests based on the HSA mathematical model enabled comparison of the dynamic responses of the hydraulic actuator rigidly connected and flexibly connected via an SDD to a load mass excited by the constant and impact force generated by a rock breaker. The experimental studies on the test stand focused on HSA adaptive positioning control. The main task was to adapt the adaptive position controller to the identified HSA loaded with excitation force (impact force). The simulation and experimental tests carried out are important for assessing dynamic properties and designing the position controller of an HSA subjected to cyclic impact forces. The presented results are also important for the development of guidelines for the safe operation of various large-scale heavy hydraulic machines under vibration loads.

show abstract

“…Experiments in the laboratory are currently under investigation. The differential cylinder equipped with a disturbance force sensor will be used to realize the active vibration damping method presented in [2] for the flexible robot in fig. 1.…”

Section: Nonlinear Controlmentioning

confidence: 99%

“…To realize complex control concepts, e.g. for vibration damping [2], it is necessary to develop decentral controllers for position and/or force control of the hydraulic actuators in a first step. One modern nonlinear control technique is the exact linearization via feedback [6, 71 which will be used here to develop a nonlinear controller to compensate the main nonlinear effects of a hydraulic differential cylinder.…”

Section: Introductionmentioning

confidence: 99%

Nonlinear control of hydraulic differential cylinders actuating a flexible robot

Bernzen

Wey²,

Riege³

Proceedings of the 36th IEEE Conference on Decision and Control

View full text Add to dashboard Cite

On Vibration Damping of Hydraulically Driven Flexible Robots

Cited by 7 publications

References 5 publications

A Case Study of a Hydraulic Servo Drive Flexibly Connected to a Boom Manipulator Excited by the Cyclic Impact Force Generated by a Hydraulic Rock Breaker

A Case Study of a Hydraulic Servo Drive Flexibly Connected to a Boom Manipulator Excited by the Cyclic Impact Force Generated by a Hydraulic Rock Breaker

Dynamic Properties of a Hydraulic Servo Actuator Flexibly Connected to a Load Mass Excited by Cyclic Force

Nonlinear control of hydraulic differential cylinders actuating a flexible robot

Contact Info

Product

Resources

About