Robotic control system for hydraulic telescopic handler

Činkelj, Justin; Kamnik, Roman; Cepon, Peter; Mihelj, Matjaž; Munih, Marko

doi:10.1109/raad.2010.5524596

Cited by 3 publications

(3 citation statements)

References 16 publications

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“…By supplying a desired tool-point position, the joint angles for the manipulator can be calculated. This has been done on a hydraulic telescopic handler in [17], for a hydraulic crane in [18], and for flexible loader cranes in [19][20][21][22][23].…”

Section: Introductionmentioning

confidence: 99%

Development of Point-to-Point Path Control in Actuator Space for Hydraulic Knuckle Boom Crane

2020

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This paper presents a novel method for point-to-point path control for a hydraulic knuckle boom crane. The developed path control algorithm differs from previous solutions by operating in the actuator space instead of the joint space or Cartesian space of the crane. By operating in actuator space, almost all the parameters and constraints of the system become either linear or constant, which greatly reduces the complexity of both the control algorithm and path generator. For a given starting point and endpoint, the motion for each actuator is minimized compared to other methods. This ensures that any change in direction of motion is avoided, thereby greatly minimizing fatigue, jerky motion, and energy consumption. However, where other methods may move the tool-point in a straight line from start to end, the method in actuator space will not. In addition, when working in actuator space in combination with pressure-compensated control valves, there is no need for linearization of the system or feedback linearization due to the linear relationship between the control signal and the actuator velocities. The proposed solution has been tested on a physical system and shows good setpoint tracking and minimal oscillations.

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Section: Introductionmentioning

confidence: 99%

Development of Point-to-Point Path Control in Actuator Space for Hydraulic Knuckle Boom Crane

2020

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“…This yields either reference position or reference velocities for the actuated joints depending on the specific task. Inverse kinematic control for hydraulic/electric manipulators can be done by work from Cinkelj et al (2010) and Kucuk and Bingul (2004).…”

Section: Introductionmentioning

confidence: 99%

Tool-Point Control for a Redundant Heave Compensated Hydraulic Manipulator

Kjelland

Tyapin

Hovland

et al. 2012

IFAC Proceedings Volumes

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“…Examples of this have been reported in several research contributions. In [1] such an approach was applied as part of a force controller for a hydraulic manipulator, in [2] for position control of a telehandler, in [3] for position control of a hydraulically driven winch and in [4] as part of a controller for a hydraulic robot manipulator. However, hydraulic valve-cylinder drives often suffers from strong variations in supply pressure due to slow dynamics of the supply system (due to pump dynamics and hoses/pipes), and experiences strong variations in the cylinder pressures due to varying loads.…”

Section: Introductionmentioning

confidence: 99%

Robust Position Tracking for Electro-Hydraulic Drives Based on Generalized Feedforward Compensation Approach

Schmidt

Andersen²,

Pedersen³

et al. 2012

AMM

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This paper presents the development of a robust tracking control concept based on accurate feedforward compensation of hydraulic valve-cylinder drives. The proposed feedforward gain is obtained by use of a generalized description of the valve flow that takes into account any asymmetry of valves and/or cylinders, not assuming these asymmetries to be matched, and utilizes pressure measurements. Hence the proposed compensator is generally applicable to any such drive. Simulations show that the proposed compensator poses superior performance and robustness when subjected to strong perturbations in supply pressure and coulomb friction, compared with a conventional constant gain type feedforward compensator.

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Robotic control system for hydraulic telescopic handler

Cited by 3 publications

References 16 publications

Development of Point-to-Point Path Control in Actuator Space for Hydraulic Knuckle Boom Crane

Development of Point-to-Point Path Control in Actuator Space for Hydraulic Knuckle Boom Crane

Tool-Point Control for a Redundant Heave Compensated Hydraulic Manipulator

Robust Position Tracking for Electro-Hydraulic Drives Based on Generalized Feedforward Compensation Approach

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