Abstract
The passive dynamic control (PDC) is a mechanical system control method based on an inherently safe design means using a brake mechanism effectively. Since the PDC follow-up control can be envisaged as gradually narrowing down the wide area around a control object to enclose it toward the target trajectory, the authors designate this control as "enclosing control." This paper describes the application of the enclosing control to a rotary pneumatic manipulator. First, the vision of the enclosing control is explained. Next, Experimental setup that uses two PDC pneumatic cylinders that installs electromagnetic friction brake and load cell in pneumatic cylinder is shown. Then, in a sine track trajectory follow-up control experiment and a circular trajectory follow-up control experiment using a 2-link manipulator, the effectiveness of the enclosing control is demonstrated in comparison with the PI control and the sliding mode control.
