Abstract
Multi-degree-of-freedom pneumatic manipulators are prone to time delay for influence of joint disturbances during position servo, resulting in poor robustness of position servo control of multi-degree-of-freedom pneumatic manipulators, so in order to improve the robustness of position servo control of multi-degree-of-freedom pneumatic manipulators, a method of position servo robustness control for multi-degree-of-freedom pneumatic manipulators based on delayed feedback is proposed. In this method, a sensor array is adopted to acquire position servo parameters of a multi-degree-of-freedom pneumatic manipulator, and a controlled object model for position servo control of the multi-degree-of-freedom pneumatic manipulator is constructed to adjust control constraint parameters. Based on this model constructed, the time-delay coupling tracking compensation method is adopted to adjust position error of the multi-degree-of-freedom pneumatic manipulator, and the inertial attitude parameter fusion method is adopted to correct control error of the manipulator, so as to optimize position servo control output of the manipulator. Simulation results show that this method has advantages of small error, good stability and posture error correction performance in position servo control of multi-degree-of-freedom pneumatic manipulators.
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