Modeling and control of a hydraulically actuated flexible-prismatic link robot
Conference
·
OSTI ID:634138
Most of the research related to flexible link manipulators to date has focused on single link, fixed length, single plane of vibration test beds. In addition, actuation has been predominantly based upon electromagnetic motors. Ironically, these elements are rarely found in the existing industrial long reach systems. This manuscript describes a new hydraulically actuated, long reach manipulator with a flexible prismatic link at Oak Ridge National Laboratory (ORNL). Focus is directed towards both modeling and control of hydraulic actuators as well as flexible links that have variable natural frequencies.
- Research Organization:
- Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States)
- Sponsoring Organization:
- USDOE, Washington, DC (United States); USDOE Office of Energy Research, Washington, DC (United States)
- DOE Contract Number:
- AC05-96OR22464
- OSTI ID:
- 634138
- Report Number(s):
- ORNL/CP-96159; CONF-970469-; ON: DE98003176; TRN: 98:009804
- Resource Relation:
- Conference: 1997 international conference on robotics and automation, Albuquerque, NM (United States), 20-25 Apr 1997; Other Information: PBD: Dec 1996
- Country of Publication:
- United States
- Language:
- English
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