Accepted author manuscript, 219 KB, PDF document
Final published version
Research output: Contribution to conference - Without ISBN/ISSN › Abstract › peer-review
Research output: Contribution to conference - Without ISBN/ISSN › Abstract › peer-review
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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 -