囲い込み制御による揺動型空気圧マニピュレータの従来法との比較

抄録

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 follow-up control by the PDC 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.” Here, the proposed method is evaluated by comparing with PI control and sliding mode control for rotary pneumatic 2 link manipulator. By experiments, in the enclosing control, the stick-slip is suppressed by the brake mechanism, and good follow-up accuracy can be obtained compared with the other control methods.