2026
Screw Theory-Based Decomposition and Compensation Control for Large Hydraulic Manipulators With Multi-Closed-Chain Structures
High-precision control of Large Hydraulic Manipulators (LHMs) is challenging due to the complex kinematic constraints of multi-closed-chain structures and the nonlinear characteristics of Counterbalance valves (CBVs). To address these issues, a Screw Theory-Based Decomposition and Compensation Control (ST-DCC) method i...
Wei-Di Huang, Shu-Wei Yang, Ru-Qi Ding et al.
· IEEE Transactions on Automat... · 0 citations