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
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.
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