Dynamic modeling and trajectory tracking control of a novel muck-removal hydraulic manipulator

A novel muck-removal hydraulic manipulator driven by screw swing cylinders and double acting cylinders is developed in this paper, so as to solve the engineering problems of high labor intensity of workers, frequent collapse accidents of surrounding rocks and low efficiency during the muck-removal operation at the bottom of the tunnel for TBM constructions. The system development process is described, while the kinematic and dynamic formulation are established for motion analysis of the manipulator. A control approach combing flow feed-forward control and robust adaptive control is proposed in this work. Firstly, the nonlinear physical model based dynamics compensation is used to attenuate the nonlinearity of the manipulator. Secondly, the proposed controller is utilized to handle the effect of both uncertain nonlinearities and disturbances for system position tracking. Finally, the effectiveness of the control scheme is verified by the simulation. The proposed controller can reduces chattering significantly while the PID controller suffers from a large amount of chattering with 0.0025, 0.0053, 0.0040, 0.0020 radians amplitude and decreases initial torque outputs of four joints by 37.94%, 46.85%, 9.71 %, 26.69%, respectively.