Development of a 6-D.O.F. direct-drive wrist joint by pneumatic linear actuator drive

K. Fujimoto, Satoshi Tadokoro, T. Takamori

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

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 languageEnglish
Title of host publicationSignal Processing and System Control Factory Automation
PublisherPubl by IEEE
Pages427-432
Number of pages6
Volume1
ISBN (Print)0879426004
Publication statusPublished - 1990 Dec 1
Externally publishedYes
Event16th Annual Conference of IEEE Industrial Electronics Society - IECON'90 - Pacific Grove, CA, USA
Duration: 1990 Nov 271990 Nov 30

Other

Other16th Annual Conference of IEEE Industrial Electronics Society - IECON'90
CityPacific Grove, CA, USA
Period90/11/2790/11/30

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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