Adaptive control of a parallel manipulator driven by electro-hydraulic cylinders

• Autorzy: Woś P. , Dindorf R.
• Języki publikacji: EN

Abstrakty

EN

The paper presents a three-axis manipulator with an electro-hydraulic servo system and a mathematical model describing the kinematics of the solid model and the manipulator. The manipulator control system is also discussed. An adaptive control algorithm was developed for the electro-hydraulic servo system using a parametric model. The identified model was applied to conduct an on-line synthesis of the controller. An increase in the performance of the adaptive control system was achieved by introducing a variable forgetting factor. The aim of the research was to examine the effectiveness of the adaptive control method for the electro-hydraulic manipulator both theoretically and experimentally.

Słowa kluczowe

EN

parallel manipulator; electro hydraulic servo drive; adaptive control algorithm; forgetting factor

PL

manipulator równoległy; serwonapęd elektrohydrauliczny; adaptacyjny algorytm sterowania

• Wydawca: Oficyna Wydawnicza Uniwersytetu Zielonogórskiego
• Czasopismo: International Journal of Applied Mechanics and Engineering
• Rocznik: 2012
• Tom: Vol. 17, no. 3
• Strony: 1061--1071
• Opis fizyczny: Bibliogr. 12 poz., rys., wykr.

Twórcy

autor

Woś P.

autor

Dindorf R.

• Kielce University of Technology Al. Tysiaclecia Panstwa Polskiego 7, 25-314 Kielce, POLAND,

Bibliografia

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