Positioning Control of Pneumatic Parallel Manipulator
Masahiro Takaiwa and Toshiro Noritsugu
Department of Mechanical Engineering, Okayama University, 3-1-1 Tsushimanaka, Okayama 700-8530, Japan
This paper describes one of the control methods which attain robust motion control performances of parallel manipulator. We used pneumatic cylinders as a driving actuator, focusing on air compressibility valid for the minute force control and impact absorption in environmental contact. Assuming that pressure control is indispensable to improve pneumatic fluid actuator control performances, we constructed positioning control system with a pressure control loop. We confirmed the feasibility of such control through experiments.
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