Abstract
Detailed knowledge of actuator properties is a prerequisite for advanced manipulator design and control. This paper deals with the experimental identification and modelling of the nonlinear dynamics of a high performance hydraulic actuator. Such actuators are of interest for applications which require both high power and high bandwidth. An analytical model of the system is formulated, and a software simulator implementing the force-controlled actuator model including all the nonlinear elements is shown to predict the real system's behavior quite well. The actuator properties and performance are also discussed.
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© 1993 Springer-Verlag London Limited
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Boulet, B., Daneshmend, L., Hayward, V., Nemri, C. (1993). System identification and modelling of a high performance hydraulic actuator. In: Chatila, R., Hirzinger, G. (eds) Experimental Robotics II. Lecture Notes in Control and Information Sciences, vol 190. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0036161
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DOI: https://doi.org/10.1007/BFb0036161
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Online ISBN: 978-3-540-39323-8
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