제어로봇시스템학회:학술대회논문집
- 1996.10b
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- Pages.1455-1458
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- 1996
Optimal servo control of pneumatic actuator with time-delay
공기압 액츄에이터의 시간지연을 고려한 최적 서보제어
Abstract
In this paper trajectory tracking control problems are described for a robot manipulator by using pneumatic actuator. Under the assumption that the so-called independent joint control is applied to the control system, the dynamic model for each link is identified as a linear second-order system with input time-delay by the step response. Then, an optimal servo controller is designed by taking account of such a time-delay. The effectiveness of the proposed control method is illustrated through some simulations and experiments for the robot manipulator.
Keywords