Abstract
This paper develops with a stabilizing method for hunting of the 2-link pneumatic manipulator. In the pneumatic manipulator, the time-delay exists due to the air tube when air pressure signal is transmitted, and the effect of the pneumatic motor's nonlinear friction is easy to be received. The hunting of each arm is not prevented by the conventional PD control, and it is generally difficult to realize a good stability control. For above problems, the new control method using neural network (NN) is proposed. Through simulation and experiment, the validity and practicability are clarified by this control method.
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Schedule a callMore From: Transactions of the Japan Society of Mechanical Engineers Series C
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