Abstract This paper presents the development and implementation of an advanced control system for a hydraulic manipulator. Designing a suitable coordinate control system for materials handling machines is vital for desired machine performance. For this purpose, targets of developing a proper coordinate control system were defined and mathematical equations were formulated. The two common control methods, i.e. open-loop control and closed-loop control were specifically designed for the handler in question, and the performance of the machine was studied applying each control method. The simulation environment and the operation principle of the created models are discussed in detail in this paper. The two control strategies introduced were tested through real-time simulation, and the accuracy and the performance of the manipulator were investigated utilizing each control method. The limitations and problems of each control strategy are addressed, and suggestions for further research directions to improve the accuracy of tip control are recommended. The case study in this paper is a mobile harbor crane material handler provided by the Mantsinen Group.

中文翻译：

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基于坐标的物料搬运设备实时仿真控制

摘要 本文介绍了一种先进的液压机械手控制系统的开发和实现。为物料搬运机器设计合适的坐标控制系统对于所需的机器性能至关重要。为此，定义了开发适当坐标控制系统的目标，并制定了数学方程。两种常见的控制方法，即开环控制和闭环控制是专门为相关处理机设计的，并应用每种控制方法研究了机器的性能。本文详细讨论了所创建模型的仿真环境和运行原理。引入的两种控制策略通过实时仿真进行了测试，并利用每种控制方法研究了机械手的精度和性能。解决了每种控制策略的局限性和问题，并提出了进一步研究方向以提高尖端控制精度的建议。本文中的案例研究是由 Mantsinen Group 提供的移动式港口起重机物料搬运机。