A Learning Control Application for a Pneumatic Manipulator on Impact Motion
Ismail Altuncu and Toshiro Noritsugu
Faculty of Engineering, Okayama University, 3-1-1 Tsushima-naka, Okayama 700, Japan
Pneumatic actuators are soft actuators that provide quick impacts that are not observed in other actuator types. Moreover, they absorb impact during tasks with collision. The emphasis of this study is to make use of the properties of pneumatic actuators. One of the control uses planned for the pneumatic robot link is a PD controller enhanced with a disturbance observer for maintaining reference angular velocity tracking. Another use is as a learning controller that updates the input term of the reference velocity for the velocity controller according to the impact force detected during each collision. Experiments were carried out in order to validate the velocity tracking and impact control performances of the control systems designed. Additional experiments tested the impact absorption feature of the pneumatic system. It was found that pneumatic actuators can absorb shock and vibration effects, resulting from impacts, that are undesirable in mechanical systems.
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