11905 空気圧サーボ弁の動特性を考慮した柔らかい制御対象に対する圧力制御器の設計法(OS7 ロボティックス・メカトロニクス(1),オーガナイズドセッション)

概要

論文の詳細を見る
Precise force control is realized by a feedback control of pneumatic pressure using a servo valve, though a mechanical pressure control valve is used for rough force control. In the system design of this force controller, the dynamic characteristic of a servo valve is fast enough, and so has been neglected. Actually, however, the force control system depends greatly on the dynamic characteristic of a servo valve. The authors proposed a new system design method of the force controller for a rigid controlled object considering the dynamic characteristic of servo valve. In this study, this proposed method was extended to be applied to a compliant object which is often controlled by pneumatic pressure. It was concluded that the extended method is effective because good results of the force control are obtained.
一般社団法人日本機械学会の論文
2010-03-09