Dynamic Simulation, Nonlinear Control and Collision Avoidance of Hydraulically Driven Large Redundant Manipulators

A detailed dynamic model of hydraulically driven mobile large-scale manipulators is presented. The model can be used as simulation model, for the calculation of the forces in the design process and for the development of the controllers, which are required for tracking given trajectories, but also to avoid vibrations. It takes into account all relevant coupling effects between hydraulic drives and arm elements as well as between flexible deformations and large nonlinear rigid body motion. The control concept makes use of the redundancy of the system in order to avoid collisions.