Study on control performance with consideration of articulated manipulators with pneumatic cylinders

Eiji Murayama, Yoshiyuki Yogosawa, Yukio Kawakami, Akiyoshi Horikawa, Koji Shioda, Masashi Ogawa

研究成果: Article査読

1 被引用数 (Scopus)

抄録

We have developed new articulated manipulators with compact pneumatic cylinders and high levels of structural flexibility and safety by adopting new structures. When a pneumatic cylinder is used as an actuator, mechanical friction and dead time are the main problems manifesting in the pneumatic servo system. In this study, we first designed nominal models of articulated manipulators using experimental data on a closedloop system. Thereafter, we analyzed the kinematics of the manipulators and examined the method of generating the trajectory of a manipulator's fingertip. Finally, we conducted simulation and experiments on the articulated manipulators we developed to understand their positional controllability. Furthermore, we experimentally evaluated the pressure-sensitive sensor embedded in the fingertip, the results of which are also reported in this paper.

本文言語English
ページ(範囲)159-168
ページ数10
ジャーナルInternational Journal of Automation Technology
8
2
DOI
出版ステータスPublished - 2014 3

ASJC Scopus subject areas

  • 機械工学
  • 産業および生産工学

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