Hydraulic manipulator virtual decomposition control with performance analysis using low-cost MEMS sensors

This paper presents closed-loop motion control of a heavy-duty hydraulic manipulator using non-linear model-based Virtual Decomposition Control (VDC), where the motion feedback is estimated solely with low-cost micro-electromechanical systems (MEMS) inertial sensors. By virtually decomposing the str...

Full description

Saved in:
Bibliographic Details
Main Authors: Koivumaki, Janne, Honkakorpi, Janne, Vihonen, Juho, Mattila, Jouni
Format: Conference Proceeding
Language:English
Subjects:
Angular velocity
Force
Joints
Manipulators
Micromechanical devices
Sensors
Vectors
Online Access:Request full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:This paper presents closed-loop motion control of a heavy-duty hydraulic manipulator using non-linear model-based Virtual Decomposition Control (VDC), where the motion feedback is estimated solely with low-cost micro-electromechanical systems (MEMS) inertial sensors. By virtually decomposing the strongly non-linear and dynamically cross-coupled manipulator system into individually controlled subsystems, a significant improvement in overall control performance is achieved. The controller performance is analysed using planar Cartesian end-effector motion. The experiments show that the stability-guaranteed VDC approach based on low-cost MEMS sensor feedback yields a high-performance control solution: with a 0.85 m/s maximum velocity, the end-effector has a peak tracking error of 13 mm, which is a notable improvement by a factor of 3.6 compared to our previous work based on linear state feedback control.
ISSN:2159-6247
2159-6255
DOI:10.1109/AIM.2014.6878196