Rehabilitation and Control of Articulated Hydraulic Manipulator

Abstract

The articulated hydraulic manipulator is a manipulator with three revolute joints and attached gripper. Each joint in this robot is driven by a hydraulic actuator. This robot is belongs to the mechatronics laboratory of Palestine Polytechnic University (ppu), and it has a five degree of freedom. We will use the logic controller (plc) to control the movement of the manipulator end-effectors in the working envelop, so by using the HMI touch screen the coordinate will be entered and the end effecter move to the desired location in the workspace of manipulator, hence we will design a robotic system to make the manipulator pick an object from one location and move it to another. In order to make this, many challenging problems will be covered in this project; these problems are kinematic, dynamitic, actuation, motion planning, control and programming.