Modelling the Dynamics of a Large-Scale Industrial Manipulator for Precision Control

Authors: Cartmell, M.P., Gordon, I., Johnston, D., Liang, S., McIntosh, L. and Wynne, B.

Pages: 298-318

ISBN: 9783031372452

DOI: 10.1007/978-3-031-37246-9_23

Abstract:

FutureForge is a strategic programme in the University of Strathclyde Advanced Forming Research Centre (AFRC) to deliver a 2,000 Tonne hydraulic press acting in three forging modes; open die, closed die and isothermal mode. A key element of FutureForge relates to the development of a digital environment and simulation capability. The forging environment has been designed, and the principal aim of this research is to develop a nonlinear mathematical model of the manipulator dynamics. The manipulator is used to carry the metal ingots/bars from storage to the furnaces and then feed them to the hydraulic press to undergo the forging operation. This model is required for developing a VR capability which can be used to train operators and engineers who will be required to use the system in practice. It is also forming the basis of a new nonlinear control strategy for the machine.

Source: Scopus