A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2018; you can also visit the original URL.
The file type is application/pdf
.
Improvement of Pneumatic Robot Control Using Disturbance Observer
外乱オブザーバを用いた空気圧ロボットの制御性能向上
1994
Journal of the Robotics Society of Japan
外乱オブザーバを用いた空気圧ロボットの制御性能向上
The low stiffness due to air compressibilty makes it difficult to control a pneumatic robot accurately. In order to improve its control performance, we propose a robust control scheme using the disturbance observer comprising the plant reference model. The disturbance observer estimates both the variations of plant parameters and disturbances based on the control input and the joint angular velocity. The proposed control scheme can decrease the influence of disturbances by means of the feedback
doi:10.7210/jrsj.12.590
fatcat:ch3tn3bfofhnbhhmapbypd5tii