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

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
CountryUnited 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.