Modeling and control of a hydraulically actuated flexible-prismatic link robot
Abstract
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.
- Authors:
- Publication Date:
- Research Org.:
- Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States)
- Sponsoring Org.:
- USDOE, Washington, DC (United States); USDOE Office of Energy Research, Washington, DC (United States)
- OSTI Identifier:
- 634138
- Report Number(s):
- ORNL/CP-96159; CONF-970469-
ON: DE98003176; TRN: 98:009804
- DOE Contract Number:
- AC05-96OR22464
- Resource Type:
- Conference
- 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
- Subject:
- 42 ENGINEERING NOT INCLUDED IN OTHER CATEGORIES; ROBOTS; CONTROL THEORY; MANIPULATORS; MATHEMATICAL MODELS; HYDRAULIC CONTROL DEVICES; REMOTE CONTROL
Citation Formats
Love, L, Kress, R, and Jansen, J. Modeling and control of a hydraulically actuated flexible-prismatic link robot. United States: N. p., 1996.
Web.
Love, L, Kress, R, & Jansen, J. Modeling and control of a hydraulically actuated flexible-prismatic link robot. United States.
Love, L, Kress, R, and Jansen, J. 1996.
"Modeling and control of a hydraulically actuated flexible-prismatic link robot". United States. https://www.osti.gov/servlets/purl/634138.
@article{osti_634138,
title = {Modeling and control of a hydraulically actuated flexible-prismatic link robot},
author = {Love, L and Kress, R and Jansen, J},
abstractNote = {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.},
doi = {},
url = {https://www.osti.gov/biblio/634138},
journal = {},
number = ,
volume = ,
place = {United States},
year = {Sun Dec 01 00:00:00 EST 1996},
month = {Sun Dec 01 00:00:00 EST 1996}
}
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