2A2-J04 産業分野への応用を目指した空気圧ロボットアームの開発と制御(アクチュエータの機構と制御)

概要

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In this research, we have developed the pneumatic robot arm driven by pneumatic actuators as the versatile end effector of a material handling system. The arm consists of the hand and wrist parts. The hand can grasp various objects without force sensors and feedback control. Therefore, we aim to control the wrist motions to expand the hand motion space. We construct the experimental models of the drive system of the pneumatic robot wrist. We design the control systems using simulations with the constructed models. After that, we try to control the wrist motions with constructed controllers. As a result, we can control the wrist motions with constructed PI controllers. The wrist models are coincident with the motions of the wrist accurately. Therefore, we can get the experimental results that meet the simulation conditions.
一般社団法人日本機械学会の論文
2011-05-26