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Robust Force Control of Pneumatic Manipulator

공압 매니퓰레이터의 강인 힘제어

  • 박정규 (LG전자(주) 생산기술센터 기술개발 연구소) ;
  • 노리츠구토시로 (일본 오카야마국립대학교 공학부 기계공학과)
  • Published : 1996.02.01

Abstract

In this paper, a compensation method of disturbance using a disturbance observer is proposed for a force control of a pneumatic robot manipulator. The generated torque by a pneumatic actuator can be estimated based on the pressure signals. The inner torque control system is constructed by feeding back the generated torque to improve the dynamic characteristics of the actuator. In order to reduce the influence of disturbances comprising friction torque, parameter variations of plant and environment and so on, the reaction torque control system is constructed with a disturbance observer which estimates the disturbances based on the reference input to the inner torque control system and the reaction torque sensed with a forced sensor. From some simulations and experiments, it is confirmed that the proposed control system is effective to improve the robustness for the friction torque and the parameter change of object in the force control of a pneumatic robot manupulator.

Keywords

Robust Control;Disturbance Observer;Force Control;Pneumatic Manipulator;Inner Torque Control

References

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