Abstract
In this paper, the modeling and 3D simulation of electro-hydraulic manipulator are presented. In the research, a typical model of electro-hydraulic servo drives is implemented. The output value in the model is a position of a drive; this information is used to compute tilt angles in manipulator’s joints. Proposed simulation environment is used to testing new control algorithms. Online controlling and 3D visualization can precisely reflect manipulator trajectory. Data from camera is used and three algorithms of estimation of marker position are tested; these are circle fitting method, center of mass, and Kalman filter (KF). The virtual manipulator data is compared with real manipulator data and error analysis is given. The proposed method yields good results with positioning error of tool center point less than 0.5 cm.
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Acknowledgements
The presented research results were funded with grants for education allocated by the Ministry of Science and Higher Education in Poland. Grant no. 02/22/DSMK/1406 and 02/22/DSPB/1389 Poland.
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Owczarek, P., Goslinski, J., Rybarczyk, D., Kubacki, A., Jakubowski, A., Sawicki, L. (2018). Modeling and 3D Simulation of an Electro-hydraulic Manipulator Controlled by Vision System with Kalman Filter. In: Hamrol, A., Ciszak, O., Legutko, S., Jurczyk, M. (eds) Advances in Manufacturing. Lecture Notes in Mechanical Engineering. Springer, Cham. https://doi.org/10.1007/978-3-319-68619-6_36
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DOI: https://doi.org/10.1007/978-3-319-68619-6_36
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