Dynamic Analysis and Control of Hydraulic Machine System and Industrial Robotic Manipulators


Article Preview

Dynamic control on hydraulic machine system and kinematic control on industrial robotic manipulators are two studied topics in this research. The main objective of this study is to analyze dynamic, forward kinematic and inverse kinematic on a couple of mechanical systems and hydraulic mechanical systems in order to control these machines. The characteristics of hydraulic and manipulator robot parameters are firstly calculated by using dynamic theories. In the former topic, we perform an example on CNC machine tools which is designing a hydraulic controller to move a cutting tool along a circular path. Dynamics analysis, forward kinematics and inverse kinematics of industrial robotic are archived in the latter topic. Two experiments were also performed on RRR and RRRRRR manipulators by analyzing the inverse kinematic equations to make these robots follow the desired trajectories. This study takes innovations and achieves control improvement in different systems with optimization controller or trajectory planning.



Edited by:

Yunn Lin Hwang




Y. L. Hwang et al., "Dynamic Analysis and Control of Hydraulic Machine System and Industrial Robotic Manipulators", Applied Mechanics and Materials, Vol. 883, pp. 1-7, 2018

Online since:

July 2018




* - Corresponding Author

[1] K. Ogata: Modern Control Engineering. (New Jersey: Prentice Hall, 2002).

[2] R.N. Jazar: Theory of Applied Robotics: Kinematic, Dynamic, and Control. (Springer, 2010).

[3] S.M. Fadali and A. Visioli: Digital Control Engineering – Analysis and Design. (Amsterdam: Elsevier, 2013).

[4] Y.L. Hwang, J.K. Cheng and V.T. Truong: Computer-aided Dynamic Analysis and Simulation of Multi-body Manufacturing System. Applied Mechanics and Materials, Vols. 764-765 (2015), pp.757-761.

DOI: https://doi.org/10.4028/www.scientific.net/amm.764-765.757

[5] W. Schiehlen: Computational Dynamics: Theory and Applications of Multi-body Systems. European J. of Mechanics – A/Solids. Vol. 25(4) (2006), pp.566-594.

[6] G.D. Jalon and E. Bayo: Kinematic and Dynamic Simulation of Multibody Systems. (New York: Springer-Verlag, 1994).

[7] Y.L. Hwang: A New Approach for Dynamic Analysis of Flexible Manipulator Systems. Int. J. of Non-Linear Mechanics. Vol. 40(6) (2005), pp.925-938.

DOI: https://doi.org/10.1016/j.ijnonlinmec.2004.12.001

[8] A.A. Shabana: Dynamics of Multibody System. (Cambridge University Press, 2010).

[9] D.Y. Wang, C. Guan and S.X. Pan: Control Strategy of Power Matching and Power Sources Optimization for Hydraulic Excavator. Trans. of the Chinese Society for Agri. Machinery. Vol. 40(4) (2009), pp.91-95.

[10] W. Durfee and Z. Sun: Fluid Power System Dynamics. A National Science Foundation Engineering Research Center Department (2015).

[11] K.B. Zhou, X.Y. Wang, J.F. Tao, X.F. Gou and C.H. Xu: Research on a Novel PID Based Controller for Non-magnetic Hydraulic Navigation Simulator with AMESim Simulation. 2012 UKACC Int. Conf. on Control, 3-5 Sept. 2012, Cardiff, UK.

DOI: https://doi.org/10.1109/control.2012.6334680

[12] R. Shakya, K. Rajanwal, S. Patel and S. Dinkar: Design and Simulation of PD, PID and Fuzzy Logic Controller for Industrial Application. Int. J. of Inform. and Comp. Tech. Vol. 4(4) (2014), pp.363-368.

Fetching data from Crossref.
This may take some time to load.