Position Modelling of Planar Two-Link Manipulator with Electrohydraulic Control System

The paper deals with the problems of kinematic and dynamic modelling, simulation and experimental test of the planar two-link manipulator with the electrohydraulic control. The kinematic model was constructed on the basis of the kinematic relations and the dynamic model by means of bond graphs. On the test stand the dynamic characterisation and identification of the model mechanism was carried out and the accuracy of hydraulic cylinder positioning was investigated.