Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : September 03, 2023 - September 06, 2023
We have been developing precise positioning control system for general purpose pneumatic actuators, where less than 0.1 μm steady state error in linear drive and less than 1/1000 deg. in rotary type are already achieved. The proposed method is not a main controller but just a compensator, which enables us to switch between apply or remove the output signal from the compensator on demand. Currently, cooperative robots have attracted many attentions in the product line from view of lowering of labors in the super aging society. In such a robot, safety must be ensured since they are standing beside of the human worker and, at the same time, precise motion control is also required to implement assembly work. In our proposed method, precise positioning control with high gain servo loop and compliance servo property owing to the air compressibility can be switched according to the work. In this study, fundamental control properties and sample of industrial application are introduced.
