张海涛, 何清华, 张新海, 黄志雄. 机器人液压挖掘机运动系统的建模与控制[J]. 机器人, 2005, 27(2): 113-117..
ZHANG Hai-tao, HE Qing-hua, ZHANG Xin-hai, HUANG Zhi-xiong. Modeling and Control of the Motion System of a Hydraulic Robotic Excavator. ROBOT, 2005, 27(2): 113-117..
Abstract：This paper connects the desired trajectory of the bucket with the objective angular series of the working mechanisms,and establishes the dynamic model of the mechanisms by using the Lagrange equation.The electro-hydraulic model of the LUDV hydraulic driving system is deduced,and the complete motion system model of the robotic excavator is obtained.According to the characteristics such as high nonlinearity of system dynamics,parameter uncertainties,external disturbance,the dead region and nonlinear gain coefficient of the proportional direction valve,this paper presents a discontinuous projection based on adaptive robust control to deal with motion system,the error is eliminated with robust feedback.Finally,the experiment of the boom motion control is presented to illustrate the feasibility of this method.
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