Reference : Transfer matrix modeling of hydraulically actuated flexible robots

	Document type :	Scientific journals : Article
	Discipline(s) :	Engineering, computing & technology : Electrical & electronics engineering Engineering, computing & technology : Mechanical engineering
	To cite this reference:	http://hdl.handle.net/2268/27095

Title :	Transfer matrix modeling of hydraulically actuated flexible robots
Language :	English
Author, co-author :	Krauss, Ryan [Southern Illinois University Edwardsville > Department of Mechanical Engineering > > > >]
	Book, Wayne J [Georgia Institute of Technology > George W. Woodruff School of Mechanical Engineering > Intelligent Machine Dynamics Laboratory > > >]
	Bruls, Olivier [Université de Liège - ULg > Département d'aérospatiale et mécanique > Laboratoire des Systèmes Multicorps et Mécatroniques >]
Publication date :	2007
Journal title :	International Journal of Fluid Power
Volume :	8
Issue/season :	1
Pages :	51-57
Peer reviewed :	Yes (verified by ORBi)
Audience :	International
ISSN :	1439-9776
Keywords :	[en] transfer matrix method, flexible robots, modelling, vibration suppression, control design
Abstract :	[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.
Target :	Researchers ; Professionals ; Students
Permalink :	http://hdl.handle.net/2268/27095

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