Abstract
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.
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