Home > Research > Publications & Outputs > Control of hydraulically–actuated manipulators ...

Electronic data

  • ukras2020

    Accepted author manuscript, 219 KB, PDF document

View graph of relations

Control of hydraulically–actuated manipulators with dead–band and time–delay uncertainties

Research output: Contribution to conference - Without ISBN/ISSN Abstract

Forthcoming
Publication date31/03/2020
Original languageEnglish
EventUK-RAS 2020 Conference: Robots in the Real World - University of Lincoln, Lincoln, United Kingdom
Duration: 17/04/202017/04/2020
Conference number: 3rd
https://www.ukras.org/news-and-events/uk-ras/

Conference

ConferenceUK-RAS 2020 Conference
CountryUnited Kingdom
CityLincoln
Period17/04/2017/04/20
Internet address

Abstract

The research behind this article is motivated by robotic operations in radiologically contaminated environments, notably for nuclear decommissioning. However, the experiments reported within are based on a recently reconfigured, hydraulically-actuated, dual manipulator robot that is being used for R&D into both tele-operation and autonomy in a non-active laboratory setting. One element of this research concerns the development of novel control systems to address time-delay and deadband uncertainties. The article briefly discusses some preliminary results and plans in this regard. Recent improvements to the hardware demonstrator are also described.