简介：In this paper, the modeling and 3D simulation of electro-hydraulic manipulator are presented. In the research, a typical model of electro-hydraulic servo drives is implemented. The output value in the model is a position of a drive; this information is used to compute tilt angles in manipulator's joints. Proposed simulation environment is used to testing new control algorithms. Online controlling and 3D visualization can precisely reflect manipulator trajectory. Data from camera is used and three algorithms of estimation of marker position are tested; these are circle fitting method, center of mass, and Kalman filter (KF). The virtual manipulator data is compared with real manipulator data and error analysis is given. The proposed method yields good results with positioning error of tool center point less than 0.5 cm

来源：【机构】：Institute of Control and Information Engineering, Poznan University of Technology | Institute of Mechanical Technology, Poznan University of Technology 【会议】：International Scientific-Technical Conference [日期]：2017-10-23 16:00:00[届次]：5th 【总页数】：10 【起始页】：375 【结束页】：384【会议录】：Advances in Manufacturing 【年】：2018

链接：http://pan.ckcest.cn/rcservice//doc?doc_id=25093