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General Information
    • ISSN: 1793-8198
    • Frequency: Quarterly
    • DOI: 10.18178/IJMMM
    • Editor-in-Chief: Prof. K. M. Gupta, Prof. Ian McAndrew
    • Executive Editor: Ms. Cherry L. Chen
    • Abstracting/Indexing: EI (INSPEC, IET), Chemical Abstracts Services (CAS), Engineering & Technology Digital Library,  ProQuest, Crossref, Ulrich's Periodicals Directory, and Electronic Journals Library .
    • E-mail ijmmm@ejournal.net
Editor-in-chief
Prof. Ian McAndrew
Embry Riddle Aeronautical University, UK.
It is my honor to be the editor-in-chief of IJMMM. I will do my best to help develop this journal better.

IJMMM 2014 Vol.2(3): 193-196 ISSN: 1793-8198
DOI: 10.7763/IJMMM.2014.V2.126

Experimental Study on Cartesian-Space PD Control for Hydraulic Manipulator

Sang-Uk Chon, Jung-San Cho, and Sang-Deok Park
Abstract—This paper presents Cartesian-space PD control of a hydraulic manipulator. The approach based upon “Virtual spring-damper hypothesis” is composed of virtual spring effects and virtual damper effects in task space. It has been applied to electrically driven robots. This experiment shows the comparison of Cartesian-space control with typical joint-space control in the performance of straight-line motion for the hydraulic manipulator that easily generate movements of manipulator without spending a huge amount of computational cost.

Index Terms—Cartesian-space control, hydraulic actuator, manipulator, position control.

Sang-Uk Chon is with Intelligent Robot Engineering, University of Science & Technology, 176 Gajung-dong 217 Gajungro Yuseong-gu, Daejeon, Korea and Department of Applied Robot Technology, Korea Institute of Industrial Technology, 1271-18 Sa3-dong, Sangrok-gu, Ansan, Korea (e-mail: jsoman00@gmail.com)
Jung-San Cho and Sang-Deok Park are with the Department of Applied Robot Technology, Korea Institute of Industrial Technology, 1271-18 Sa3-dong, Sangrok-gu, Ansan, Korea (e-mail: chojs,sdpark@kitech.re.kr)

[PDF]

Cite: Sang-Uk Chon, Jung-San Cho, and Sang-Deok Park, "Experimental Study on Cartesian-Space PD Control for Hydraulic Manipulator," International Journal of Materials, Mechanics and Manufacturing vol. 2, no. 3, pp. 193-196, 2014.

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