Enclosing Control of 2 Link Rotary Pneumatic Manipulator - Comparison with Conventional Methods in Trajectory Follow-up -

摘要

We are proposing a mechanical system control method for follow-up control based on an inherently safe design using a brake mechanism effectively. Since this control method is based on the image of enclosing the controlled object in the target trajectory by gradually narrowing the free area around the target trajectory, this control method is named "enclosure control". In this paper, the application of enclosure control to a rotary pneumatic manipulator is described. By circle and straight line trajectory follow-up control experiments using a 2-link manipulator, the effectiveness of enclosing control is verified. In the experiments using enclosing control, the stick-slip is suppressed by the brake mechanism, and good follow-up accuracy can be obtained compared with conventional control methods.