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RISTracking Control of Hydraulic Actuators Using a LuGre Friction Model Compensation
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper addresses the tracking control of hydraulic actuators commonly used in many hydraulically actuated robotic systems. Dynamic model of the entire actuator incorporating highly nonlinear ...
Quantitative Fault Tolerant Control Design for a Leaking Hydraulic Actuator
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper documents the design of a low-order, fixed-gain, controller that can maintain the positioning performance of an electrohydraulic actuator operating under variable load with a leaking ...
A Hybrid Haptic Sensation for Teleoperation of Hydraulic Manipulators
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this paper, a control scheme is designed for stable haptic teleoperation of hydraulic manipulators. The controller results in a stable position tracking for the hydraulic actuator (slave) in both unconstrained and ...
Design and Prototyping of a Force-Reflecting Hand-Controller for Ultrasound Imaging
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents detailed design, analysis, prototyping, and testing of a novel force-reflecting hand-controller allowing physicians to control a robotic wrist and perform ultrasound examinations ...
Controller Design and Stability Analysis of Output Pressure Regulation in Electrohydrostatic Actuators
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this paper, a robust fixed-gain linear output pressure controller is designed for a double-rod electrohydrostatic actuator using quantitative feedback theory (QFT). First, the family of frequency responses of the system ...
Optimization-Driven Controller Design for a High-Performance Electro-Hydrostatic Asymmetric Actuator Operating in All Quadrants
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents an optimization-driven controller design for smooth and accurate position control of a single-rod electrohydrostatic actuator. The design approach uses logically guided iterative runs of the electrohydrostatic ...
The Cavitation Issue in Asymmetrical Axial-Piston Pumps
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Pump-controlled single-rod hydraulic actuators have long been the subject of intensive research toward building valve-less, more efficient systems. The main challenge is to deal with the uneven flows into and out of the ...
Inelastic Behavior of X‐Bracing in Plane Frames
Publisher: American Society of Civil Engineers
Abstract: A numerical procedure for determining the hysteretic behavior of axially loaded, pin‐ended bracing members is outlined. The relationships between axial loads and deformations are computed recognizing the different states ...
Fault-Tolerant Actuating Pressure Controller Design for an Electrohydrostatic Actuator Experiencing a Leaky Piston Seal
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Electrohydrostatic actuators (EHAs), as a class of pump-controlled hydraulic actuators, are known for energy efficiency and easy maintainability. Thus, they can be widely used in the situations where actuating pressure/force ...
Decentralized Coordinated Motion Control of Two Hydraulic Actuators Handling a Common Object
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this paper, reinforcement learning is applied to coordinate, in a decentralized fashion, the motions of a pair of hydraulic actuators whose task is to firmly hold and move an object along ...