安全性を高めた遠隔操作用空気圧駆動アクチュエータとその適応制御

概要

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In this paper, a safety improved pneumatic actuators and its adaptive control is proposed. It is difficult that the pneumatic actuator which controlled from remote places, because they have time delays, phase lags, and frequently changing dynamics according to the variety tasks. To overcome these problem, the pneumatic actuator is equipped a mechanical feedback by a spring to decrease phase lag, is controlled by adaptive control method. Finally, an experimental result is shown.
宇部工業高等専門学校の論文