Real-Time Simulator of a Six Degree-of-Freedom Hydraulic Manipulator for Pipe-Cutting Applications

Hydraulic manipulators exhibit significant potential for various applications owing to their advantages. To simulate scenarios and evaluate their control performance effectively, a real-time simulation method of hydraulic manipulators is required. Simulations are easier and safer to conduct, and are...

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Autores principales:	Myoungho Kim, Sung-Uk Lee, Sung-Soo Kim
Formato:	article
Lenguaje:	EN
Publicado:	IEEE 2021
Materias:	Control simulation hydraulic manipulator pipe-cutting real-time simulator real-time integration algorithm Electrical engineering. Electronics. Nuclear engineering TK1-9971
Acceso en línea:	https://doaj.org/article/76b7b86a2e3d4f938ae40c688a41f6f9
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id	oai:doaj.org-article:76b7b86a2e3d4f938ae40c688a41f6f9
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spelling	oai:doaj.org-article:76b7b86a2e3d4f938ae40c688a41f6f92021-11-24T00:02:08ZReal-Time Simulator of a Six Degree-of-Freedom Hydraulic Manipulator for Pipe-Cutting Applications2169-353610.1109/ACCESS.2021.3127502https://doaj.org/article/76b7b86a2e3d4f938ae40c688a41f6f92021-01-01T00:00:00Zhttps://ieeexplore.ieee.org/document/9612207/https://doaj.org/toc/2169-3536Hydraulic manipulators exhibit significant potential for various applications owing to their advantages. To simulate scenarios and evaluate their control performance effectively, a real-time simulation method of hydraulic manipulators is required. Simulations are easier and safer to conduct, and are therefore preferred over physical experiments. This paper discusses a real-time simulator for hydraulic manipulators. This simulator entails servo valve dynamics, hydraulic equations, a friction model, a pipe-cutting model, mechanical manipulator dynamics, a robust numerical integration algorithm, and a controller. The hydraulic manipulator dynamics was developed by considering the compressibility of fluid and applying the multibody recursive formula to effectively implement the characteristics of the actual system. In addition, a noniterative HHT-<inline-formula> <tex-math notation="LaTeX">$\alpha $ </tex-math></inline-formula> numerical integration algorithm was applied to real-time simulations including the stiff characteristics of the hydraulic system and the cutting force. The performance of the real-time simulator was verified by comparing the results obtained with the results of the open-loop control experiment. The results of circular trajectory-tracking and pipe-cutting simulations showed that an advanced simulation with a controller can be realized in a working environment, and the real-time performance was verified by measuring the computational time.Myoungho KimSung-Uk LeeSung-Soo KimIEEEarticleControl simulationhydraulic manipulatorpipe-cuttingreal-time simulatorreal-time integration algorithmElectrical engineering. Electronics. Nuclear engineeringTK1-9971ENIEEE Access, Vol 9, Pp 153371-153381 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Control simulation hydraulic manipulator pipe-cutting real-time simulator real-time integration algorithm Electrical engineering. Electronics. Nuclear engineering TK1-9971
spellingShingle	Control simulation hydraulic manipulator pipe-cutting real-time simulator real-time integration algorithm Electrical engineering. Electronics. Nuclear engineering TK1-9971 Myoungho Kim Sung-Uk Lee Sung-Soo Kim Real-Time Simulator of a Six Degree-of-Freedom Hydraulic Manipulator for Pipe-Cutting Applications
description	Hydraulic manipulators exhibit significant potential for various applications owing to their advantages. To simulate scenarios and evaluate their control performance effectively, a real-time simulation method of hydraulic manipulators is required. Simulations are easier and safer to conduct, and are therefore preferred over physical experiments. This paper discusses a real-time simulator for hydraulic manipulators. This simulator entails servo valve dynamics, hydraulic equations, a friction model, a pipe-cutting model, mechanical manipulator dynamics, a robust numerical integration algorithm, and a controller. The hydraulic manipulator dynamics was developed by considering the compressibility of fluid and applying the multibody recursive formula to effectively implement the characteristics of the actual system. In addition, a noniterative HHT-<inline-formula> <tex-math notation="LaTeX">$\alpha $ </tex-math></inline-formula> numerical integration algorithm was applied to real-time simulations including the stiff characteristics of the hydraulic system and the cutting force. The performance of the real-time simulator was verified by comparing the results obtained with the results of the open-loop control experiment. The results of circular trajectory-tracking and pipe-cutting simulations showed that an advanced simulation with a controller can be realized in a working environment, and the real-time performance was verified by measuring the computational time.
format	article
author	Myoungho Kim Sung-Uk Lee Sung-Soo Kim
author_facet	Myoungho Kim Sung-Uk Lee Sung-Soo Kim
author_sort	Myoungho Kim
title	Real-Time Simulator of a Six Degree-of-Freedom Hydraulic Manipulator for Pipe-Cutting Applications
title_short	Real-Time Simulator of a Six Degree-of-Freedom Hydraulic Manipulator for Pipe-Cutting Applications
title_full	Real-Time Simulator of a Six Degree-of-Freedom Hydraulic Manipulator for Pipe-Cutting Applications
title_fullStr	Real-Time Simulator of a Six Degree-of-Freedom Hydraulic Manipulator for Pipe-Cutting Applications
title_full_unstemmed	Real-Time Simulator of a Six Degree-of-Freedom Hydraulic Manipulator for Pipe-Cutting Applications
title_sort	real-time simulator of a six degree-of-freedom hydraulic manipulator for pipe-cutting applications
publisher	IEEE
publishDate	2021
url	https://doaj.org/article/76b7b86a2e3d4f938ae40c688a41f6f9
work_keys_str_mv	AT myounghokim realtimesimulatorofasixdegreeoffreedomhydraulicmanipulatorforpipecuttingapplications AT sunguklee realtimesimulatorofasixdegreeoffreedomhydraulicmanipulatorforpipecuttingapplications AT sungsookim realtimesimulatorofasixdegreeoffreedomhydraulicmanipulatorforpipecuttingapplications
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Real-Time Simulator of a Six Degree-of-Freedom Hydraulic Manipulator for Pipe-Cutting Applications

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