Print Email Facebook Twitter Incremental nonlinear control of hydraulic parallel robots Title Incremental nonlinear control of hydraulic parallel robots: An application to the SIMONA research simulator Author Huang, Y. (TU Delft Control & Simulation) Contributor Mulder, M. (promotor) Chu, Q. (promotor) Pool, D.M. (copromotor) Degree granting institution Delft University of Technology Date 2019-03-18 Abstract In advanced robotic applications such as robotic locomotion, vehicle and flight simulators, and material test devices, there are higher requirements on stiffness, robustness and power ability for the mechanical structure and the actuator. Hence, it is common for such applications to use parallel manipulators and hydraulic actuators, due to their advantages in these aspects over their counterparts of serialmanipulators and electrical actuators. When high-precision motion control is required for such systems, advanced model-based controllers, including feedback linearization and adaptive control, have been proposed in state-of-the-art studies for both hydraulic and parallel mechanical systems. However, the high complexity, nonlinearity and model uncertainty of these systems raise significant challenges for their motion control accuracy. Subject Parallel RobotsMotion ControlHydraulic RobotsForce ControlNonlinear SystemsModel UncertaintyRobustnessIncremental Nonlinear Dynamic Inversion To reference this document use: https://doi.org/10.4233/uuid:79ff3197-2134-4057-8e6c-c3239e2f2a7b ISBN 978-94-028-1419-4 Part of collection Institutional Repository Document type doctoral thesis Rights © 2019 Y. Huang Files PDF dissertation.pdf 14.39 MB Close viewer /islandora/object/uuid:79ff3197-2134-4057-8e6c-c3239e2f2a7b/datastream/OBJ/view