Multivariable control of hydraulic drives-potential for robotal devices

摘要

Robotal devices and large manipulators are important elements of present-day automation andrationalisation concepts. With operating ranges up to 60 metres they allow heavy loads to bepositioned and guided even over great distances. By integration of appropriate soft- and hardwarecomponents the application field of the manipulators can be extended from conventional use areassuch as concrete distributors to include new applications in the building trade, shipbuilding or serviceindustries. Drive power requirements and limitations on available installation space frequently lead tothe systems being equipped with hydraulic drives in the form of cylinders or hydraulics motors. Inorder to obtain an exact position or path for the Tool Center Point (TCP) the individual axes of thedevices must be moved very exactly, in accordance with preselected trajectories or trajectoriesresulting from path planning data. This article describes a control concept with which good runningperformance is achieved over the full operating range of hydraulic drives with reduced energy input.