A Survey on Control of Hydraulic Robotic Manipulators With Projection to Future Trends

摘要

This paper presents the recent advancements in the control of multiple-degree-of-freedom hydraulic robotic manipulators. A literature review is performed on their control, covering both free-space and constrained motions of serial and parallel manipulators. Stability-guaranteed control system design is the primary requirement for all control systems. Thus, this paper pays special attention to such systems. An objective evaluation of the effectiveness of different methods and the state of the art in a given field is one of the cornerstones of scientific research and progress. For this purpose, the maximum position tracking error |e| <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">max</sub> and a performance indicator ρ (the ratio of |e| <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">max</sub> with respect to the maximum velocity) are used to evaluate and benchmark different free-space control methods in the literature. These indicators showed that stability-guaranteed nonlinear model based control designs have resulted in the most advanced control performance. In addition to stable closed-loop control, lack of energy efficiency is another significant challenge in hydraulic robotic systems. This paper pays special attention to these challenges in hydraulic robotic systems and discusses their reciprocal contradiction. Potential solutions to improve the system energy efficiency without control performance deterioration are discussed. Finally, for hydraulic robotic systems, open problems are defined and future trends are projected.