Journal article
Computed-Torque and Variable-Structure Multi-Variable Control of a Hydraulic Industrial Robot
Abstract
The paper considers the application of a mathematical model proposed for the control of hydraulic robots with large supply pressure. The model of the Workmaster hydraulic robot, formerly manufactured by Thorn EMI Robotics, is simplified and used for the computed-torque and variable-structure control applications both in simulation and in practice. The model-based controllers are examined, and new insight is gained into the working of hydraulic …
Authors
Habibi SR; Richards RJ
Journal
Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering, Vol. 205, No. 2, pp. 123–140
Publisher
SAGE Publications
Publication Date
May 1991
DOI
10.1243/pime_proc_1991_205_322_02
ISSN
0959-6518