Article : texte imprimé

Adaptive Output Force Trancking of Hydraulic Cylinders with Applications to Robot Manipulators

Zhu, Wen-Hong, Auteur ; Piedboeuf, Jean-Claude, Auteur |

Dans Transactions of the ASME . Journal of dynamic systems, measurement, and control (Vol. 127, N° 2, Juin 2005)

An adaptive output force control scheme for hydraulic cylinders is proposed by using direct force measurement through loadcells. Due to the large and somewhat uncertain piston friction force, cylinder chamber pressure control with coulomb-viscou[...]

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