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Proceedings of the 16th IAARC/IFAC/IEEE International Symposium on Automation and Robotics in Construction
In impedance control of hydraulic excavators the piston position and ram force of each hydraulic cylinder for the axis control of the boom, arm, and bucket can be determined. The problem is thus how to find the control voltage applied to the servovalves to track these commands to the hydraulic systems. This paper presents analytic, simulation and experimental results for controllers that have been developed in our laboratory to achieve force and position tracking of clectrohydraulic systems ofdoi:10.22260/isarc1999/0075 fatcat:drembhvuwvaapkfj2sx6r7yoda