Controlled Hydraulics for a Direct Drive Brick Laying Robot

Starting from a specific task requirement a Brick Laying Robot has been designed. The tight performance claims which have been imposed by the task specification, constitute the basis for the research on control of hydraulically driven manipulators. The main goal is to increase robot efficiency and task suitability by application of modern control techniques. The introduced cascade Δp inner loop for hydraulic actuators is presented as a solution for the posed control problem.