The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jul. 28, 2026
Filed:
Mar. 15, 2024
Servo control method and system for multi-joint hydraulic manipulator based on adaptive sliding mode
Shandong University, Jinan, CN;
Xuewen Rong, Jinan, CN;
Shuai Zan, Jinan, CN;
Guoteng Zhang, Jinan, CN;
Teng Chen, Jinan, CN;
Xin MA, Jinan, CN;
Yibin Li, Jinan, CN;
Yong Fan, Jinan, CN;
Shandong University, Jinan City, CN;
Abstract
A servo control method for a multi-joint hydraulic manipulator based on adaptive sliding mode is provided. A motion trajectory of an end of the multi-joint hydraulic manipulator in a workspace is generated, and expected angular displacement, angular velocity and angular acceleration of individual joints are calculated. An actual angular displacement and an actual angular velocity of the individual joints under a current position-pose are calculated. Combined with a dynamic model of the manipulator, a driving force of individual joints is calculated. Based on the expected angular displacement, the actual angular displacement and the driving force, a sliding-mode surface is constructed. The adaptive law is updated to perform adaptive sliding-mode control for the manipulator. A system for implementing the servo control method is also provided.