{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,5]],"date-time":"2026-01-05T21:55:53Z","timestamp":1767650153575},"reference-count":12,"publisher":"Cambridge University Press (CUP)","issue":"3","license":[{"start":{"date-parts":[[2009,3,9]],"date-time":"2009-03-09T00:00:00Z","timestamp":1236556800000},"content-version":"unspecified","delay-in-days":6826,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[1990,7]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>A fundamental study on the control of hydraulically actuated robots is presented. Dynamic modelling is performed in both time-domain and frequency-domain. It is shown that the inclusion of hydraulic elements increases the order of the system. Hydraulic compliance is the most effective factor in this regard.<\/jats:p><jats:p>Three distinct control strategies are applied. Their performances are evaluated and compared. All three methods are exemplified with a two link hydraulic robot in a computer simulation. The robot has the same hydraulic configuration as many existing industrial manipulators. The simulation program is written in <jats:italic>ACSL<\/jats:italic> (<jats:italic>A<\/jats:italic>dvanced <jats:italic>C<\/jats:italic>ontinuous <jats:italic>S<\/jats:italic>imulation <jats:italic>L<\/jats:italic>anguage) running on a VAX 11\/750.<\/jats:p>","DOI":"10.1017\/s0263574700000060","type":"journal-article","created":{"date-parts":[[2009,3,10]],"date-time":"2009-03-10T13:20:22Z","timestamp":1236691222000},"page":"207-216","source":"Crossref","is-referenced-by-count":34,"title":["Cascade control of hydraulically actuated manipulators"],"prefix":"10.1017","volume":"8","author":[{"given":"N.","family":"Sepehri","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"G.A.M.","family":"Dumont","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"P.D.","family":"Lawrence","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"F.","family":"Sassani","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2009,3,9]]},"reference":[{"key":"S0263574700000060_ref011","first-page":"233","article-title":"Adaptive Linear Control for Robotic Manipulators","volume":"AC-28","author":"Koivo","year":"1983","journal-title":"IEEE Transaction on Automatic Control"},{"key":"S0263574700000060_ref012","volume-title":"Numerical Techniques for Stochastic Systems","author":"Clarke","year":"1980"},{"key":"S0263574700000060_ref008","first-page":"A219","volume-title":"Proc. 4th International Fluid Power Symposium","author":"lyengar","year":"1975"},{"key":"S0263574700000060_ref007","first-page":"115","volume-title":"Proc. 6th International Fluid Power Symposium","author":"Browns","year":"1981"},{"key":"S0263574700000060_ref006","volume-title":"Robot Manipulators, Mathematics, Programming and Control","author":"Paul","year":"1983"},{"key":"S0263574700000060_ref010","first-page":"801","volume-title":"Proc. International Symposium of Robotic Research","author":"Leininger","year":"1983"},{"key":"S0263574700000060_ref009","volume-title":"Nonlinear Systems","author":"Siljak","year":"1968"},{"key":"S0263574700000060_ref003","unstructured":"3. Rivin E.I. , \u201cEffective rigidity of robot structure: analysis and enhancement\u201d Proc. the American Control Conf. (Boston, MA) 381\u2013383 (06 19\u201321, 1985)."},{"key":"S0263574700000060_ref001","first-page":"361","volume-title":"Proc. 6th International Fluid Power Symposium","author":"Davies","year":"1981"},{"key":"S0263574700000060_ref002","first-page":"223","volume-title":"Proc. the IFAC Symposium","author":"Hanafusa","year":"1980"},{"key":"S0263574700000060_ref004","volume-title":"Hydraulic Control Systems","author":"Merrit","year":"1967"},{"key":"S0263574700000060_ref005","doi-asserted-by":"publisher","DOI":"10.1115\/1.3143811"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574700000060","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,5,18]],"date-time":"2019-05-18T20:48:37Z","timestamp":1558212517000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574700000060\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1990,7]]},"references-count":12,"journal-issue":{"issue":"3","published-print":{"date-parts":[[1990,7]]}},"alternative-id":["S0263574700000060"],"URL":"https:\/\/doi.org\/10.1017\/s0263574700000060","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[1990,7]]}}}