Modeling and control of hydraulic rotary actuators used in forestry cranes

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2009, Pages 1315-1320

  La Hera, Pedro M ^a   Mettin, Uwe ^a   Westerberg, Simon ^a   Shiriaev, Anton S ^a,b  

^a UMEÅ UNIVERSITY   (Sweden)

^b NORWEGIAN UNIVERSITY OF SCIENCE AND TECHNOLOGY   (Norway)

Author keywords

Control Design; Hydraulic Manipulator; Robotics in Agriculture and Forestry; System Identification

Indexed keywords

ACCURATE TRACKING; ANGULAR POSITIONS; CASCADE CONTROLLER; CONTROL DESIGN; EXPERIMENTAL SYSTEM; FORESTRY CRANES; HYDRAULIC MANIPULATOR; HYDRAULIC ROTARY ACTUATORS; INNER LOOPS; MODELING AND CONTROL; PRESSURE SENSING; REFERENCE TRAJECTORIES; SENSING DEVICES; SYSTEM DYNAMICS; SYSTEM IDENTIFICATION;

ACTUATORS; ELECTROSTATIC ACTUATORS; IDENTIFICATION (CONTROL SYSTEMS); MANIPULATORS; ROBOTICS; ROBOTS; SENSORS; TIMBER; TRACKING (POSITION);

FORESTRY;

ACTUATORS; AGRICULTURE; ELECTROSTATICS; FORESTRY; FORESTS; IDENTIFICATION; ROBOTS; SENSORS; SYSTEMS;

EID: 70350418445     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2009.5152522     Document Type: Conference Paper

References (11)

1. M. Brander, D. Eriksson, and B. Löfgren. Automation of knuckleboom work can increase productivity. Skogforsk Results, No 4, 2004.
2. J.A.F. Ferreira. Modelaçà de Sistemas Hidráulicos para SimulaçÃo com Hardware-in-the-loop. PhD thesis, University of Aveiro, 2003.
3. U. Hallonborg. Förarlösa skogsmaskiner kan bli lönsamma (unmanned forestry machines can be competitive). Skogforsk Results, No 9, 2003.
4. P.X. La Hera, U. Mettin, I.R. Manchester, and A.S. Shiriaev. Identification and control of a hydraulic forestry crane. In Proceedings of the 17th IFAC World Congress, pages 2306-2311, Seoul, Korea, July 6-11 2008.
5. P.D. Lawrence, F. Sassani, B. Sauder, N. Sepehri, U. Wallersteiner, and J. Wilson. Computer-assisted control of excavator-based machines. In International Off-Highway and Powerplant Congress and Exposition, page Document number 932486, Milwaukee, Wisconsin, USA, September 1993.
6. M. Linjama. The Modelling and Actuator Space Control of Flexibile Hydraulic Cranes. PhD thesis, Tampere University of Technology, 1998.
7. N.D. Manring. Hydraulic Control Systems. John Wiley & Sons, New York, USA, first edition, 2005.
8. J. Mattila and T. Virvalo. Computed force control of hydraulic manipulators. In 5th Scandinavian Inter. Conf. On Fluid Power, page 139154, Sweden, July 6-11 1997.
9. M.E. Münzer. Resolved Motion Control of Mobile Hydraulic Cranes. PhD thesis, Aalborg University, 2002.
10. H. Olsson, K.J. Åstrom̈, C. Canudas de Wit, M. Gaf̈vert, and P. Lischinsky. Friction models and friction compensation. European Journal of Control, 9(4):176-195, 1998.
11. O. Rafael. A two-loop implicit force/position control structure, based on a simple linear model: Theory and experiments. Proceedings of the 2006 IEEE International Conference on Robotics and Automation, 15(19):2232-2237, 2006.