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

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Control of hydraulically–actuated manipulators with dead–band and time–delay uncertainties. / Albrecht, Olivia; Bandala Sanchez, Manuel; Monk, Stephen; Taylor, James.

2020. 54-55 Abstract from UK-RAS 2020 Conference, Lincoln, United Kingdom.

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

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@conference{5d0aa29fbe9341c78b9a0c4cfa6b3c4a,
title = "Control of hydraulically–actuated manipulators with dead–band and time–delay uncertainties",
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.",
keywords = "nuclear decommissioning, hydraulic actuators, deadband, time-delay, uncertainty",
author = "Olivia Albrecht and {Bandala Sanchez}, Manuel and Stephen Monk and James Taylor",
year = "2020",
month = apr
day = "17",
doi = "10.31256/Wd9Qw9E",
language = "English",
pages = "54--55",
note = "UK-RAS 2020 Conference : Robots in the Real World ; Conference date: 17-04-2020 Through 17-04-2020",
url = "https://www.ukras.org/news-and-events/uk-ras/",

}

RIS

TY - CONF

T1 - Control of hydraulically–actuated manipulators with dead–band and time–delay uncertainties

AU - Albrecht, Olivia

AU - Bandala Sanchez, Manuel

AU - Monk, Stephen

AU - Taylor, James

N1 - Conference code: 3rd

PY - 2020/4/17

Y1 - 2020/4/17

N2 - 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.

AB - 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.

KW - nuclear decommissioning

KW - hydraulic actuators

KW - deadband

KW - time-delay

KW - uncertainty

U2 - 10.31256/Wd9Qw9E

DO - 10.31256/Wd9Qw9E

M3 - Abstract

SP - 54

EP - 55

T2 - UK-RAS 2020 Conference

Y2 - 17 April 2020 through 17 April 2020

ER -