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)
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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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