Publications / 1991 Proceedings of the 8th ISARC, Stuttgart, Germany

Modelling and Control of a Hydraulic Large Range Robot

U. Hirsch, A. Jacubasch, H. B. Kuntze, F. Eberle, B. Goller
Pages 609-620 (1991 Proceedings of the 8th ISARC, Stuttgart, Germany, ISSN 2413-5844)

Large range robots are of increasing importance for various difficult applications at building sites or in hazardous areas. In collaboration with industrial partners the KfK has developed such extended multi point (EMIR) which is driven by hydraulic actuators. The position control of EMIR is a tough problem due to the extreme nonlinearities of the kinematics and hydraulic actuators as well as the remarkable elasticities of the mechanics and hydraulics. In the first part of this paper a realistic physically transparent model of the robot will be presented. In the second part different suitable control concepts based on the model will be discussed.

Keywords: Hydraulic large range robot,automatic control, modelling of nonlinearities and elasticity, model-based control concepts