Joint Motion Parameters for Hydraulic Manipulator Precision Control

A dataset from 2026-05-19 by Angang Cao, presenting joint motion parameters for a feedforward static compensation strategy for hydraulically driven weak-rigid manipulators. The data likely contains parameters from analytical joint stiffness modeling used to reduce end-effector positioning errors. The method was validated via Adams multibody dynamics simulations.

Use Cases

• Training feedforward compensation models based on detailed analytical joint stiffness modeling.
• Benchmarking hydraulic manipulator positioning accuracy against simulated results achieving ±0.1 mm repeatability.
• Analyzing the relationship between joint motion parameters and end-effector error reduction in X, Y, and Z axes.

Strengths

• Simulation results show significant error reduction: 97.49% (X), 92.91% (Y), and 94.84% (Z).
• Achieves a simulated repeatable positioning accuracy of ±0.1 mm, exceeding a stated 0.5 mm requirement.
• Dataset is small (5.5 KB), facilitating quick inspection and download.

Limitations

• Row count is unknown, which may limit suitability assessment.
• Column-level documentation is absent; field semantics must be inferred after download.
• Results are simulation-based; the description notes real-world hydraulic complexities will degrade practical accuracy.

Provenance

Source

Angang Cao via figshare

Collection Method

Likely generated from Adams multibody dynamics simulations of a hydraulic manipulator model.

Freshness

Last updated 2026-05-19 17:33:53; freshness should be verified.