La Hera, Pedro
- Department of Forest Biomaterials and Technology, Swedish University of Agricultural Sciences
Abstract
We present results of modeling dynamics of a forestry manipulator, in which we consider its mechanics, as well as its hydraulic actuation system. The mathematical model of its mechanics is formulated by Euler-Lagrange equations, for which the addition of friction forces is straightforward. Dynamics of the hydraulic system is modeled upon first principle laws, which concern flow through orifices and fluid compressibility. These models lead to a set of equations with various unknown parameters, which are related to the inertias, masses, location of center of masses, friction forces, and valve coefficients. The numerical values of these parameters are estimated by the use of least-square methods, which is made feasible by transforming the models into linear representations. The results of simulation tests show a significant correspondence between measured and estimated variables, validating our modeling and identification approach.
Published in
Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems
2012, pages: 3399-3404
Title: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
Publisher: IEEE
Conference
25th IEEE\RSJ International Conference on Intelligent Robots and Systems (IROS), OCT 07-12, 2012, Algarve, PORTUGAL
SLU Authors
UKÄ Subject classification
Robotics and automation
Forest Science
Publication identifier
- eISBN: 978-1-4673-1736-8
Permanent link to this page (URI)
https://res.slu.se/id/publ/118063