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About Resolved Motion Control of Mobile Hydraulic Cranes
The control structure used in this thesis is distributed joint control. A central controller coordinates the motion of the individual joints based on the operators input and the measured state of the manipulator. The central controller sends a reference joint velocity to the individual joint controllers mounted at each joint. The individual joint controllers can be programmed with the flow characteristic of the valve, the geometry of the joint, and a velocity control algorithm. This control structure supports the current trend in industry of mobile hydraulic proportional valves with embedded micro-controllers. The joint control algorithm can be programmed in the actual valve. Communication between the individual joint controllers and the coordinating controller can occur over a bus system, such as CAN bus.
Detailed Information
| Author: | Marc E. M¨unzer |
|---|---|
| Publication Year: | 2003 |
| ISBN: | 8789179447 |
| Pages: | 219 |
| Language: | other |
| File Size: | 7.2486 |
| Format: | |
| Price: | FREE |
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