Modeling and Control of Hydraulic Manipulators

MODELING AND CONTROL OF HYDRAULIC MANIPULATORS

Automation in the construction industry continues to grow while becoming more feasible with advanced sensor technology and enhanced computational power. Development of assistance systems that control the hydraulic actuators of the deployed machines facilitate the autonomous execution of repetitive tasks.

The objective of the research project is to develop a velocity control scheme for the hydraulic cylinders of the hydraulic manipulator as a foundation for assistance systems and automation functions that increase productivity and safety. Thus, a detailed dynamic model is derived, which enables the design of a model-based state feedback controller.

PRINCIPAL INVESTIGATOR
Prof. Dr.-Ing. Oliver Sawodny
Institute for System Dynamics (ISYS), University of Stuttgart

RESEARCHER

Christos Parlapanis (ISYS)