Position Control of 6-DOF Direct-Drive Wrist Joint Using Time Delay Control

Kiyoshi Maeda, Isawo Yasaka, Satoshi Tadokoro, Toshi Takamori

Research output: Contribution to journalArticlepeer-review


A 6-DOF direct-drive wrist joint with the mechanism of a Stewart platform which is driven by pneumatic actuators is controlled by using time delay control (to be referred as TDC). TDC is based on the idea that modeling error and disturbance are estimated and compensated for by algebraic computation. A reference model was made according to a linearized approximation model. Time delay and entimated value of input gain of the plant, which are parameters in TDC design, were determined to satisfy conditions of tracking and stability. Experimental results showed that TDC compensated changes of parameters by nonlinearity of pneumatic actuators, changes of inertia and gravity terms by platform motion, and dynamic interference between actuators. Good trajectories were achieved with TDC.

Original languageEnglish
Pages (from-to)1543-1549
Number of pages7
Journaltransactions of the japan society of mechanical engineers series c
Issue number584
Publication statusPublished - 1995
Externally publishedYes


  • 6-DOF Direct-Drive Wrist Joint
  • Closed-Loop Mechanism
  • Disturbance
  • Parallel Manipulator
  • Pneumatic Actuators
  • Reference Model
  • Time Delay Control

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering


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