Control of Hydraulic Robots
Hydraulic actuation has been widely used in industrial applications, attributed to its characteristic of having a large power to mass ratio. Although this feature dramatically increases the operational capability of a hydraulically driven robot, the inherent nonlinear dynamics associated with hydraulic cylinders substantially challenge the controller design. It is obvious that the specific difficulties existed in the control of hydraulically driven robots arise from the specific dynamics of the hydraulic cylinders.
KeywordsOpen Chain Hydraulic Cylinder Actuation Force Hydraulic Actuator Servo Valve
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