Full Content is available to subscribers

Subscribe/Learn More  >

Addressing Closed-Chain Dynamics for High-Precision Control of Hydraulic Cylinder Actuated Manipulators

[+] Author Affiliations
Janne Koivumäki, Jouni Mattila

Tampere University of Technology, Tampere, Finland

Wen-Hong Zhu

Canadian Space Agency, Longueuil, QC, Canada

Paper No. FPMC2018-8839, pp. V001T01A018; 10 pages
  • BATH/ASME 2018 Symposium on Fluid Power and Motion Control
  • BATH/ASME 2018 Symposium on Fluid Power and Motion Control
  • Bath, UK, September 12–14, 2018
  • Conference Sponsors: Fluid Power Systems and Technology Division
  • ISBN: 978-0-7918-5196-8
  • Copyright © 2018 by ASME


Nonlinear model-based (NMB) control methods have been shown (both in theory and in practice) to provide the most advanced control performance for highly nonlinear hydraulic manipulators. In these methods, the inverse dynamics of a system are used to proactively generate the system actuation forces from the desired motion dynamics. To model the inverse dynamics in articulated systems, the Lagrange dynamics and the Newton-Euler dynamics are the most common methods.

In hydraulic cylinder actuated manipulators, a linear motion of the cylinder can be converted to a rotational joint motion between two links, creating closed-chain structures in the system. In Lagrange-dynamics-based control methods, the closed-chain structures are typically treated as an open-chain structure, which may raise the question of inaccurate system modeling. Contrary, the virtual decomposition control (VDC) approach is the first rigorous NMB control method to take full advantage of Newton-Euler dynamics, allowing to address the system nonlinear dynamics without imposing additional approximations.

In VDC, the actuated closed-chain structures can be virtually decomposed to open chain structures. To address the dynamics between the decomposed open chains, three specific terms (namely two load distribution factors and an internal force vector) need to be addressed. However, analytical solutions for these terms cannot be found in the literature. This paper provides the detailed solutions for these terms, which are further needed in a high-precision control of hydraulic robotic manipulators.

Copyright © 2018 by ASME



Interactive Graphics


Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In