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首页> 外文会议>International Fluid Power Conference Dresden >Design of a Modular Hydraulically Driven Variable Geometry Truss Structure and its Nonlinear Controller Architecture for Highly Dexterous Motion
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Design of a Modular Hydraulically Driven Variable Geometry Truss Structure and its Nonlinear Controller Architecture for Highly Dexterous Motion

机译：模块化液压驱动可变几何桁架结构及其用于高度柔弱运动的非线性控制器架构

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In the paper, a design of novel 3-DOF octahedron-shaped modules for hydraulically actuated variable geometry truss manipulators and its nonlinear control architecture will be introduced. The main features of the design are the optimized multiple collocated spherical joints and a structure-integrated supply of the drive fluid for the hydraulic actuators. Based upon the presented structure, a family of highly maneuverable lightweight hyper-redundant manipulators can be derived. Furthermore a model-based nonlinear control architecture is introduced for the hydraulically driven manipulator to ensure high control performance all over its workspace, in spite of the pronounced nonlinearities of the hydraulic drives and the structures kinematics. The advantages of the presented control approach are demonstrated by a comparison with well-known control designs for hydraulic drives using a virtual model of the manipulator.
机译：本文将介绍用于液压驱动的可变几何形状桁架操纵器及其非线性控制架构的新型3-DOF八面体形模块及其非线性控制架构。 设计的主要特征是优化的多个旋转球形接头和用于液压致动器的驱动流体的结构集成供应。 基于所提出的结构，可以推导出一系列高度可动性的轻质超冗余机械手。 此外，对于液压驱动的操纵器引入基于模型的非线性控制架构，以确保在其工作空间中进行高控制性能，尽管液压驱动器和结构运动学的明显非线性，但是对于液压驱动器的明显非线性以及结构运动学。 通过使用操纵器的虚拟模型与液压驱动器的众所周知的控制设计进行了说明了所提出的控制方法的优点。

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