Abstract
Consideration is given to a six-degree-of-freedom direct-drive wrist joint consisting of six bellows-type pneumatic linear actuators and two plates which have been connected like an octahedron. The static and dynamic performances of its prototype are described. The control of the wrist joint has been done by means of regulating the length of each actuator. To make the control easier, the authors introduced an approximate model of the wrist joint by assuming that each actuator is free from mutual constraints and designed a position control system according to the PID (proportional plus integral plus derivative) control law. The experimental results show that this wrist joint can be accurately controlled with this system.
| Original language | English |
|---|---|
| Title of host publication | Signal Processing and System Control Factory Automation |
| Publisher | Publ by IEEE |
| Pages | 427-432 |
| Number of pages | 6 |
| Volume | 1 |
| ISBN (Print) | 0879426004 |
| Publication status | Published - 1990 Dec 1 |
| Externally published | Yes |
| Event | 16th Annual Conference of IEEE Industrial Electronics Society - IECON'90 - Pacific Grove, CA, USA Duration: 1990 Nov 27 → 1990 Nov 30 |
Other
| Other | 16th Annual Conference of IEEE Industrial Electronics Society - IECON'90 |
|---|---|
| City | Pacific Grove, CA, USA |
| Period | 90/11/27 → 90/11/30 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering