Position tracking and dynamic control of an innovative anchor beam supporting robot

摘要

Position tracking modeling and automatic control of an innovative anchor beam supporting robot are presented. Specifically, the forward and inverse kinematics model integrated with BP neural network and the mechanical-hydraulic co-simulation model based on ante-valve pressure compensation method are developed and applied. The experimental system is built to verify the models and method. The results show that position tracking precision can reach the sub-centimeter level. The influence of variable load on hydraulic flow control is weakened effectively and the stability and controllability of load sensitive system is improved. The developed model and control approach are valuable for virtual development and automated testing during the commissioning of hydraulic manipulator.