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

Associated organisational unit

Electronic data

  • ukras2020

    Accepted author manuscript, 219 KB, PDF document


Text available via DOI:

View graph of relations

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

Research output: Contribution to conference - Without ISBN/ISSN Abstractpeer-review

Publication date17/04/2020
Number of pages2
<mark>Original language</mark>English
EventUK-RAS 2020 Conference: Robots in the Real World - University of Lincoln, Lincoln, United Kingdom
Duration: 17/04/202017/04/2020
Conference number: 3rd


ConferenceUK-RAS 2020 Conference
Country/TerritoryUnited Kingdom
Internet address


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.