Control of hydraulically–actuated manipulators with dead–band and time–delay uncertainties

Albrecht, Olivia and Bandala Sanchez, Manuel and Monk, Stephen and Taylor, James (2020) Control of hydraulically–actuated manipulators with dead–band and time–delay uncertainties. In: UK-RAS 2020 Conference, 2020-04-17 - 2020-04-17, University of Lincoln.

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Abstract

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.