Gripping strategy of pneumatic robot arm for industrial fields wrist control in consideration of compensation of gravity
作者： Sho Maeda , Nobutaka Tsujiuchi , Takayuki Koizumi , Isao Nakai , Mitsumasa Sugiura
DOI: 10.1109/IECON.2012.6389148
关键词:
摘要: In previous research, we developed a pneumatic robot arm driven by actuators as versatile end effector of material handling system. Also, constructed PI controller through simulations. However, in industrial fields, robots for system must be able to work while holding objects. We did not consider this so research aims construct the when hand holds an object. experimented three situations: one is nothing, another tennis ball, and last baseball. all situations, has hysteresis loop, which means angle changes spite same pressure being applied. Then model these experiments. Moreover, could decide optical gain with simulation. Finally, using gains, obtain experimental results that match simulation results.
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