Question

求助机械专业外语翻译。高分求助！！！

Experimental implementation of complex path tracking control for large robotic hydraulic excavators

Abstract The experimental implementation of the path tracking control of a real hydraulic excavator with an operating weight of 4,500 kg for realising a large hydraulic servo robot with a high loading ability is de- scribed in this article. The three working arms are driven by hydraulic valve-controlled cylinders with boom structure systems to achieve rotational motion. Accordingly, the non-linearity of the boom mechanisms, large masses, large dimensions and low natural fre- quency of the working arms, as well as the coupling influence between the multi-body systems of the three working arms make it diffcult to realise high accuracy path tracking control. The control strategy of the model reference adaptive control, which has a simple algorithm and on-line self-tuning ability, is used. Complex path profiles tracking can be achieved by the combination of the path tracking control of the three working arms. Consequently, the large hydraulic excavator can be used as large multi-purpose robots for high loading and high precision applications.

Keywords Path tracking control Robotic hydraulic excavator Hydraulic servo robot

Answer 1

复杂路径跟踪控制的大型机器人液压挖掘机的实验性的实现

抽象的实验实现跟踪控制的一个真正液压挖掘机工作的一种高负荷的能力与实现大型液压伺服机器人 4500 公斤的重量是路径的德-驿站在这篇文章。三个工作武器是由液压阀控缸臂结构系统实现转动驱动的。因此，非线性的繁荣机制、 大型群众、 大尺寸和低自然诚聘英才淬火的工作的武器，以及三个工作武器的多体系统之间的耦合 influence 使其很难实现高精度路径跟踪控制。用于控制策略的模型参考自适应控制，有一种简单算法及在线自校正能力。复杂路径 profiles 跟踪可以通过跟踪控制的三个工作武器的路径的组合。因此，大型液压挖掘机可以用作大型的多用途机器人，高负荷和高精度的应用程序。

关键字 制机器人 液压挖掘机 液压伺服机器人