F-1130 むだ時間と非線形特佳を考慮した2リンク空気圧駆動マニピュレータのニューラルネットワークによる位置制御(J26-3 ヘルスモニタリング(3))(J26 機械・構造物のヘルスモニタリング)

概要

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This study is concerned with the method which realizes the high-precise FTP position control for the 2 link pneumatic manipulator which is suitable to explosion-proof pneumatic robot. In the system which connects the interval of electropneumatic transducer and two pneumatic motor by long air tube, the control characteristics and stability are examined through the simulation experiment, in which the PD control method is applied. But, the effect of time delay and nonlinear characteristics are easy to be received, so that it is difficult that short settling time and good stability are realized in the general PD control method. For such problems, the new control method using with neural network (NN) is proposed.
2001-08-22