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JRM Vol.23 No.6 pp. 1024-1030
doi: 10.20965/jrm.2011.p1024
(2011)

Paper:

Control of Pneumatic Robots Using Variable Offset Pressure Controller

Naoki Igo and Kiyoshi Hoshino

Graduate School of Systems and Information Engineering, University of Tsukuba, 1-1-1 Tennodai, Tsukuba, Ibaraki 305-8573, Japan

Received:
April 20, 2011
Accepted:
July 4, 2011
Published:
December 20, 2011
Keywords:
variable offset pressure controller, pneumatic actuator, robot, position control
Abstract

We proposed a control algorithm for pneumatic actuators which can realize accurate position control. Specifically, the controller achieves quick response and less overshoot using the conventional proportional controller (P-controller) with an offset pressure controller which may increase or decrease the rigidity to the pneumatic actuators. The experimental results showed that a rise time was almost the same as that of the conventional PD controller but a tracking accuracy was improved when the lamp input was given as the target.

Cite this article as:
Naoki Igo and Kiyoshi Hoshino, “Control of Pneumatic Robots Using Variable Offset Pressure Controller,” J. Robot. Mechatron., Vol.23, No.6, pp. 1024-1030, 2011.
Data files:
References
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