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Proceedings Papers

Online Dynamic Model Correction for Hydraulic Manipulator Grasped Unknown Payload

Sheng Zheng, Zhiwei Chen, Junhui Zhang, Ruqi Ding, Bing Xu, Fu Zhang
Proc. ASME. FPMC2023, ASME/BATH 2023 Symposium on Fluid Power and Motion Control, V001T01A053, October 16–18, 2023
Publisher: American Society of Mechanical Engineers
Paper No: FPMC2023-111833
https://doi.org/10.1115/FPMC2023-111833
View Paper titled, Online Dynamic Model Correction for Hydraulic Manipulator Grasped Unknown Payload
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Topics: Dynamic models, Manipulators
Proceedings Papers

Real-Time Flow Optimization of Hydraulic Manipulator with One Degree of Redundancy Considering Joint Limit Constraint

Linan Li, Min Cheng, Ruqi Ding, Junhui Zhang, Bing Xu
Proc. ASME. FPMC2021, ASME/BATH 2021 Symposium on Fluid Power and Motion Control, V001T01A056, October 19–21, 2021
Publisher: American Society of Mechanical Engineers
Paper No: FPMC2021-70293
https://doi.org/10.1115/FPMC2021-70293
View Paper titled, Real-Time Flow Optimization of Hydraulic Manipulator with One Degree of Redundancy Considering Joint Limit Constraint
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Topics: Flow (Dynamics), Manipulators, Optimization, Redundancy (Engineering), Resolution (Optics)
Proceedings Papers

Blade Control for Surface Profile Tracking by Heavy-Duty Bulldozers

Teemu Mononen, Jouni Mattila, Antti Kolu
Proc. ASME. FPMC2021, ASME/BATH 2021 Symposium on Fluid Power and Motion Control, V001T01A017, October 19–21, 2021
Publisher: American Society of Mechanical Engineers
Paper No: FPMC2021-68656
https://doi.org/10.1115/FPMC2021-68656
View Paper titled, Blade Control for Surface Profile Tracking by Heavy-Duty Bulldozers
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Topics: Blades, Manipulators, Actuators, Errors, Automatic control, Control equipment, Dynamics (Mechanics), Inertia (Mechanics), Kalman filters, Kinematics
Proceedings Papers

Composite Adaptive Dynamic Surface Control for a Multi-DOF Hydraulic Manipulator With Disturbance Observer

Xiaofu Zhang, Guanglin Shi
Proc. ASME. FPMC2021, ASME/BATH 2021 Symposium on Fluid Power and Motion Control, V001T01A019, October 19–21, 2021
Publisher: American Society of Mechanical Engineers
Paper No: FPMC2021-68665
https://doi.org/10.1115/FPMC2021-68665
View Paper titled, Composite Adaptive Dynamic Surface Control for a Multi-DOF Hydraulic Manipulator With Disturbance Observer
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Topics: Actuators, Adaptive control, Adaptive dynamics, Composite materials, Dynamics (Mechanics), Manipulators
Proceedings Papers

Parameter Identification for Model-Based Control of Hydraulically Actuated Open-Chain Manipulators

Lionel Hulttinen, Janne Koivumäki, Jouni Mattila
Proc. ASME. FPMC2019, ASME/BATH 2019 Symposium on Fluid Power and Motion Control, V001T01A026, October 7–9, 2019
Publisher: American Society of Mechanical Engineers
Paper No: FPMC2019-1656
https://doi.org/10.1115/FPMC2019-1656
View Paper titled, Parameter Identification for Model-Based Control of Hydraulically Actuated Open-Chain Manipulators
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Topics: Chain, Manipulators, Actuators, Control equipment, Cylinders, Design, Hydraulic cylinders, Industrial plants, Pressure, Vacuum
Proceedings Papers

Nonlinear Model-Based Control Design for a Hydraulically Actuated Spherical Wrist

Pauli Mustalahti, Jouni Mattila
Proc. ASME. FPMC2019, ASME/BATH 2019 Symposium on Fluid Power and Motion Control, V001T01A027, October 7–9, 2019
Publisher: American Society of Mechanical Engineers
Paper No: FPMC2019-1663
https://doi.org/10.1115/FPMC2019-1663
View Paper titled, Nonlinear Model-Based Control Design for a Hydraulically Actuated Spherical Wrist
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Topics: Design, Manipulators, Control equipment, Actuators, Stress, Degrees of freedom, Dynamics (Mechanics), Mining, Offshore structures, Stability
Proceedings Papers

Model-Based Control of a Pressure-Compensated Directional Valve With Significant Dead-Zone

Santeri Lampinen, Janne Koivumäki, Jouni Mattila, Jouni Niemi
Proc. ASME. FPMC2019, ASME/BATH 2019 Symposium on Fluid Power and Motion Control, V001T01A028, October 7–9, 2019
Publisher: American Society of Mechanical Engineers
Paper No: FPMC2019-1664
https://doi.org/10.1115/FPMC2019-1664
View Paper titled, Model-Based Control of a Pressure-Compensated Directional Valve With Significant Dead-Zone
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Topics: Pressure, Valves, Manipulators, Design, Dynamics (Mechanics), Hydraulic drive systems, Stress
Proceedings Papers

Mass Estimation of Self-Contained Linear Electro-Hydraulic Actuators and Evaluation of the Influence on Payload Capacity of a Knuckle Boom Crane

Søren Ketelsen, Torben Ole Andersen, Morten Kjeld Ebbesen, Lasse Schmidt
Proc. ASME. FPMC2019, ASME/BATH 2019 Symposium on Fluid Power and Motion Control, V001T01A045, October 7–9, 2019
Publisher: American Society of Mechanical Engineers
Paper No: FPMC2019-1689
https://doi.org/10.1115/FPMC2019-1689
View Paper titled, Mass Estimation of Self-Contained Linear Electro-Hydraulic Actuators and Evaluation of the Influence on Payload Capacity of a Knuckle Boom Crane
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Topics: Actuators, Cranes, Hydraulic cylinders, Hydraulic circuits, Valves, Architecture, Cylinders, Hydraulic drive systems, Hydraulic pumps, Hydraulics
Proceedings Papers

Addressing Closed-Chain Dynamics for High-Precision Control of Hydraulic Cylinder Actuated Manipulators

Janne Koivumäki, Wen-Hong Zhu, Jouni Mattila
Proc. ASME. FPMC2018, BATH/ASME 2018 Symposium on Fluid Power and Motion Control, V001T01A018, September 12–14, 2018
Publisher: American Society of Mechanical Engineers
Paper No: FPMC2018-8839
https://doi.org/10.1115/FPMC2018-8839
View Paper titled, Addressing Closed-Chain Dynamics for High-Precision Control of Hydraulic Cylinder Actuated Manipulators
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Topics: Chain, Dynamics (Mechanics), Hydraulic cylinders, Manipulators, Approximation, Articulated systems, Cylinders, Modeling, Nonlinear dynamics, Stress
Proceedings Papers

Nonlinear Model-Based Controller Design for a Hydraulic Rack and Pinion Gear Actuator

Pauli Mustalahti, Jouni Mattila
Proc. ASME. FPMC2018, BATH/ASME 2018 Symposium on Fluid Power and Motion Control, V001T01A020, September 12–14, 2018
Publisher: American Society of Mechanical Engineers
Paper No: FPMC2018-8841
https://doi.org/10.1115/FPMC2018-8841
View Paper titled, Nonlinear Model-Based Controller Design for a Hydraulic Rack and Pinion Gear Actuator
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Topics: Actuators, Control equipment, Design, Gears, Manipulators, Stress, Dynamics (Mechanics), Friction, Inertia (Mechanics), Rotation
Proceedings Papers

Bilateral Teleoperation of a Hydraulic Robotic Manipulator in Contact With Physical and Virtual Constraints

Santeri Lampinen, Janne Koivumäki, Jouni Mattila
Proc. ASME. FPMC2018, BATH/ASME 2018 Symposium on Fluid Power and Motion Control, V001T01A021, September 12–14, 2018
Publisher: American Society of Mechanical Engineers
Paper No: FPMC2018-8842
https://doi.org/10.1115/FPMC2018-8842
View Paper titled, Bilateral Teleoperation of a Hydraulic Robotic Manipulator in Contact With Physical and Virtual Constraints
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Topics: Manipulators, Dynamics (Mechanics), Control equipment, Control theory, Degrees of freedom, Hydraulic drive systems, Vacuum
Proceedings Papers

Floating Frame of Reference Formulation for a Flexible Manipulator With Hydraulic Actuation: Modelling and Experimental Validation

Petri Mäkinen, Oleg Dmitrochenko, Jouni Mattila
Proc. ASME. FPMC2018, BATH/ASME 2018 Symposium on Fluid Power and Motion Control, V001T01A022, September 12–14, 2018
Publisher: American Society of Mechanical Engineers
Paper No: FPMC2018-8846
https://doi.org/10.1115/FPMC2018-8846
View Paper titled, Floating Frame of Reference Formulation for a Flexible Manipulator With Hydraulic Actuation: Modelling and Experimental Validation
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Topics: Flexible manipulators, Modeling, Manipulators, Dynamics (Mechanics), Weight (Mass), Actuators, Composite materials, Design, Engineering simulation, Fuels
Proceedings Papers

A Neural Network Strategy for Learning of Nonlinearities Toward Feed-Forward Control of Pressure-Compensated Hydraulic Valves With a Significant Dead Zone

Jarmo Nurmi, Mohammad M. Aref, Jouni Mattila
Proc. ASME. FPMC2018, BATH/ASME 2018 Symposium on Fluid Power and Motion Control, V001T01A023, September 12–14, 2018
Publisher: American Society of Mechanical Engineers
Paper No: FPMC2018-8847
https://doi.org/10.1115/FPMC2018-8847
View Paper titled, A Neural Network Strategy for Learning of Nonlinearities Toward Feed-Forward Control of Pressure-Compensated Hydraulic Valves With a Significant Dead Zone
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Topics: Artificial neural networks, Feedforward control, Pressure, Valves, Manipulators, Actuators, Brain, Signals, Simulation results
Proceedings Papers

Stability-Guaranteed Nonlinear Model-Based Control of Hydraulically Actuated Lightweight Structures

Janne Koivumäki, Jouni Mattila, Claudio Semini, Darwin G. Caldwell
Proc. ASME. FPMC2017, ASME/BATH 2017 Symposium on Fluid Power and Motion Control, V001T01A030, October 16–19, 2017
Publisher: American Society of Mechanical Engineers
Paper No: FPMC2017-4261
https://doi.org/10.1115/FPMC2017-4261
View Paper titled, Stability-Guaranteed Nonlinear Model-Based Control of Hydraulically Actuated Lightweight Structures
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Topics: Lightweight structures, Stability, Control equipment, Design, Manipulators, Robotics, Friction, Inertia (Mechanics), Weight (Mass), Actuators
Proceedings Papers

Stability-Guaranteed Anti-Sway Controller Design for a Redundant Articulated Hydraulic Manipulator in the Vertical Plane

Pauli Mustalahti, Janne Koivumäki, Jouni Mattila
Proc. ASME. FPMC2017, ASME/BATH 2017 Symposium on Fluid Power and Motion Control, V001T01A031, October 16–19, 2017
Publisher: American Society of Mechanical Engineers
Paper No: FPMC2017-4263
https://doi.org/10.1115/FPMC2017-4263
View Paper titled, Stability-Guaranteed Anti-Sway Controller Design for a Redundant Articulated Hydraulic Manipulator in the Vertical Plane
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Topics: Control equipment, Design, Manipulators, Stability, Stress, Degrees of freedom, Grasping, Redundant manipulators, Vacuum
Proceedings Papers

Finite Element-Based Control of a Single-Link Flexible Hydraulic Manipulator

Petri Mäkinen, Jouni Mattila
Proc. ASME. FPMC2017, ASME/BATH 2017 Symposium on Fluid Power and Motion Control, V001T01A032, October 16–19, 2017
Publisher: American Society of Mechanical Engineers
Paper No: FPMC2017-4264
https://doi.org/10.1115/FPMC2017-4264
View Paper titled, Finite Element-Based Control of a Single-Link Flexible Hydraulic Manipulator
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Topics: Actuators, Control equipment, Design, Dynamics (Mechanics), Flexible manipulators, Fluid dynamics, Hydraulic cylinders, Manipulators, Stability, Vibration suppression
Proceedings Papers

On-Line Path Planning With Collision Avoidance for Coordinate-Controlled Robotic Manipulators

Tuomo Kivelä, Jouni Mattila, Jussi Puura, Sirpa Launis
Proc. ASME. FPMC2017, ASME/BATH 2017 Symposium on Fluid Power and Motion Control, V001T01A048, October 16–19, 2017
Publisher: American Society of Mechanical Engineers
Paper No: FPMC2017-4297
https://doi.org/10.1115/FPMC2017-4297
View Paper titled, On-Line Path Planning With Collision Avoidance for Coordinate-Controlled Robotic Manipulators
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Topics: Collisions (Physics), Manipulators, Path planning, Control systems, Motion control, Risk, Trajectories (Physics), Degrees of freedom, End effectors, Monitoring systems
Proceedings Papers

Automated Feed-Forward Learning for Pressure-Compensated Mobile Hydraulic Valves With Significant Dead-Zone

Jarmo Nurmi, Jouni Mattila
Proc. ASME. FPMC2017, ASME/BATH 2017 Symposium on Fluid Power and Motion Control, V001T01A027, October 16–19, 2017
Publisher: American Society of Mechanical Engineers
Paper No: FPMC2017-4258
https://doi.org/10.1115/FPMC2017-4258
View Paper titled, Automated Feed-Forward Learning for Pressure-Compensated Mobile Hydraulic Valves With Significant Dead-Zone
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Topics: Feedforward control, Pressure, Valves, Manipulators, Feedback, Motion control, Errors, Hydraulic actuators, Machinery, Robotics
Proceedings Papers

Control of an Electrohydraulic Stewart Platform Manipulator as Vessels Motion Simulator

Rodrigo Manuel Lebrón García, Vítor Tumelero Valente, Mário Roland Sobczyk, Eduardo André Perondi
Proc. ASME. FPNI2016, 9th FPNI Ph.D. Symposium on Fluid Power, V001T01A033, October 26–28, 2016
Publisher: American Society of Mechanical Engineers
Paper No: FPNI2016-1553
https://doi.org/10.1115/FPNI2016-1553
View Paper titled, Control of an Electrohydraulic Stewart Platform Manipulator as Vessels Motion Simulator
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Topics: Manipulators, Vessels, Actuators, Design, Ships, Algorithms, Computer simulation, Control algorithms, Control equipment, Degrees of freedom
Proceedings Papers

Trajectory Planning Based on Firefly Metaheuristic Algorithm Applied to Pneumatically Driven Modular Robots

Anselmo Rafael Cukla, Rafael Crespo Izquierdo, Eduardo André Perondi, Mario Roland Sobczyk, Flavio José Lorini, José Barata
Proc. ASME. FPNI2016, 9th FPNI Ph.D. Symposium on Fluid Power, V001T01A035, October 26–28, 2016
Publisher: American Society of Mechanical Engineers
Paper No: FPNI2016-1556
https://doi.org/10.1115/FPNI2016-1556
View Paper titled, Trajectory Planning Based on Firefly Metaheuristic Algorithm Applied to Pneumatically Driven Modular Robots
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Topics: Algorithms, Robots, Trajectories (Physics), Manipulators, Optimization, Design, Interpolation, Kinematic chains, Manufacturing systems, Pneumatic actuators