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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >A Survey on Control of Hydraulic Robotic Manipulators With Projection to Future Trends
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A Survey on Control of Hydraulic Robotic Manipulators With Projection to Future Trends

机译：预测未来趋势的液压机械手控制研究

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摘要

This paper presents the recent advancements in the control of multiple-degree-of-freedom hydraulic robotic manipulators. A literature review is performed on their control, covering both free-space and constrained motions of serial and parallel manipulators. Stability-guaranteed control system design is the primary requirement for all control systems. Thus, this paper pays special attention to such systems. An objective evaluation of the effectiveness of different methods and the state of the art in a given field is one of the cornerstones of scientific research and progress. For this purpose, the maximum position tracking error |e|max and a performance indicator ρ (the ratio of |e|max with respect to the maximum velocity) are used to evaluate and benchmark different free-space control methods in the literature. These indicators showed that stability-guaranteed nonlinear model based control designs have resulted in the most advanced control performance. In addition to stable closed-loop control, lack of energy efficiency is another significant challenge in hydraulic robotic systems. This paper pays special attention to these challenges in hydraulic robotic systems and discusses their reciprocal contradiction. Potential solutions to improve the system energy efficiency without control performance deterioration are discussed. Finally, for hydraulic robotic systems, open problems are defined and future trends are projected.
机译：本文介绍了多自由度液压机器人操纵器的控制技术的最新进展。对它们的控制进行了文献综述，涵盖了串行和并行机械手的自由空间和约束运动。保证稳定性的控制系统设计是所有控制系统的主要要求。因此，本文特别关注这种系统。对给定领域中不同方法和最新技术的有效性进行客观评估是科学研究和进步的基石之一。为此，最大位置跟踪误差| e | max和性能指标ρ（| e | max相对于最大速度的比率）用于评估和基准化文献中的不同自由空间控制方法。这些指标表明，基于稳定性保证的非线性模型的控制设计已实现了最先进的控制性能。除了稳定的闭环控制之外，在液压机器人系统中，能源效率的不足也是另一个重大挑战。本文特别关注液压机器人系统中的这些挑战，并讨论它们的相互矛盾。讨论了在不降低控制性能的情况下提高系统能效的潜在解决方案。最后，对于液压机器人系统，定义了未解决的问题并预测了未来的趋势。

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