Journal article
Sliding Mode Control of a Hydraulic Industrial Robot
Abstract
A general mathematical function for hydraulic actuators is reviewed in this paper. This model is used for the application of Computed Torque and Variable Structure controllers to a hydraulic industrial robot, the Workmaster, formerly manufactured by Thorn EMI Robotics. The model based controllers are examined to demonstrate the effectiveness of feedback and feedforward compensation in hydraulic systems. It is shown that a large performance …
Authors
Habibi SR
Journal
Journal of Dynamic Systems Measurement and Control, Vol. 121, No. 2, pp. 312–318
Publisher
ASME International
Publication Date
June 1, 1999
DOI
10.1115/1.2802473
ISSN
0022-0434