バイアス圧力を利用した空気圧式ヒューマノイドロボットアーム制御(一般セッション,コミュニケーション・共生及び一般) [in Japanese] Control for air cylinder actuator with common bias pressure [in Japanese]
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We proposed a control algorithm for air cylinder actuator to accomplish high-speed response and small overshoot to a target, which is composed of a normal PID controller with a PD controller for common bias pressure. The results of experiments showed that a rise time is almost the same as that of conventional PID controller but the overshoot decreased from 30% to 4%, suggesting that our system is useful for position or speed control with pneumatic actuators.