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Introduction of Robotics

Here Sachin Maurya a mechanical Engineer shares his ideas about ROBOTICS

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Tuesday, September 11, 2007

Identification,Modelling and Control of a (Mobile) Hydraulic Arm.

Some problems to be solved:

Create a complete Kinematic model for the hydarulic Arm.
Create a dynamic model for the arm, and identify the relevant parameter values.
Interface to the hydraulics there is currently a radio link to the hydraulic actuators. You'll be able to use to that. However this will require programming and finding and buying the needed interface hardware.
Model/identify the hydraulic components.
Design a good "dead reckoning" model for the system. (I.e. predicting the state from the control inputs.)
Design/test control laws. Optronic sensing for estimating the state of the system (in conjunction with your dead reckoning model) will be provided.

Labels: Robot Controls

posted by Sachin Maurya @ 10:15 AM

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Name: Sachin Maurya
Home: Lucknow, Uttar Pradesh, India
About Me: born thinker
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