MODELLING AND CONTROL OF A MANIPULATOR WITH HYDRAULIC ACTUATORS

摘要

Modelling and control for a large-scale manipulator, the structure of which is a three-link manipulator with hydraulic actuators is studied in the presented paper. Firstly, a numerically efficient simulation model is set up for the purpose of real time and control application. Secondly, a control using sliding mode is developed to exploit the full potential of the hydraulic manipulator. In order to design sliding mode control to track a trajectory of the end effector in task space directly, it is necessary to build a mapping between the joint space coordinate to the task space. To demonstrate the control performance, Proportional control is used for simulation to compare with SMC, and the experimental results are also given.