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• W2014047197 abstract "This paper presents closed-loop state feedback motion control of a heavy-duty hydraulic manipulator using solely micro-electro-mechanical systems (MEMS) rate gyroscopes and linear accelerometers for joint angular position, velocity and acceleration feedback. For benchmarking, incremental encoders with 2 million counts per revolution are also used to supply the joint motion state feedback. The two motion state estimation methods are compared using Cartesian path trajectory closed-loop control experiments with both position feedback-based proportional control and motion state-based feedback control. The experiments show that the proposed MEMS-based state feedback control yields comparable tracking results compared with the high accuracy encoder. Furthermore, the MEMS-based angular acceleration estimation in particular is free from typical differentiation induced noise amplification and post-filtering phase-lag." @default.
• W2014047197 created "2016-06-24" @default.
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• W2014047197 date "2013-11-01" @default.
• W2014047197 modified "2023-09-26" @default.
• W2014047197 title "MEMS-based state feedback control of multi-body hydraulic manipulator" @default.
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• W2014047197 doi "https://doi.org/10.1109/iros.2013.6696991" @default.
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