[en] transfer matrix method, flexible robots, modelling, vibration suppression, control design
[en] Accurate models of hydraulic motors and their interaction with flexible structures are needed to design motion control and vibration suppression schemes for hydraulically actuated flexible robots. The modeller of such a system faces significant challenges including capturing the dynamics of the actuator, integrating the actuator model into the system model, incorporating distributed parameter elements into the system model, determining any unknown model parameters, and creating a model that is useful for control design. This paper presents a model that overcomes all of these challenges. A transfer matrix model of a hydraulic actuator interacting with a flexible robot is developed. This model is integrated into a system model for a flexible robot. The model captures the interaction between the actuator and the structure and has been experimentally validated.