English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Zendy Pro

Presents the zaia usage as premium feature

ZAIA

Presents AI Discovery search usage as a premium feature

AI Discovery

Presents AI Discovery explain and summary usage as a premium feature

Content Analysis

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Presents the pdf analysis as premium feature

PDF Analysis

1500 Top-up

3000 Top-up

Zendy Basic

2500 Top-up

Zendy Unlimited

Presents the access of premium content as premium feature

Premium Content

Hydraulic manipulators play an irreplaceable role in many heavy-duty applications. Currently, there are stronger demands for the hydraulic manipulator to achieve high precision, as well as high force/power. However, due to the inherent nonlinearities of its high-order dynamics, the precision of the manipulator has been a common weakness compared with electrically driven ones. Thus, in this paper, a nonlinear adaptive robust control method for the hydraulic manipulator is proposed. To make the controller more applicable to practical engineering projects, this study tried to control each joint independently instead of directly based on the complicated multi-degree high-order dynamics, while guaranteeing the control precision by the adaptive nonlinear model compensation, as well as a robust feedback design. The closed-loop control performance was theoretically verified. Besides, several sets of comparative motion tracking experiments were conducted, and the proposed closed-loop system achieved high precision under different trajectories and postures.

Motion Control of a Hydraulic Manipulator with Adaptive Nonlinear Model Compensation and Comparative Experiments