Marcel Honegger

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This paper presents the dynamic equation, non-linear control and dynamic parameters identiication of the Hexaglide, a new 6 dof parallel manipulator intended to be used as a high speed milling machine. Using a method based on the virtual work principle , the dynamic equation is found in a compact linear form and then used in a non-linear adaptive control(More)
In tunneling and mining construction work, heavy and large manipulators are used to spray liquid concrete on the walls. These manipulators are usually operated manually with simple units allowing to control all actuators independently. In cooperation between industry and university , a novel control system has been developed for the redundant heavy(More)
Model-based controllers have successfully been applied to many electrically driven robotic manipulators to improve their tracking performance. The application to hydraulically actuated systems however is not straight forward, due to the nonlinear internal dynamics of the actuators. This paper presents the modelling of an experimental hydraulic robot arm and(More)
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