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- W2326873301 abstract "If the controllability of a pneumatic robot is well improved, its more advanced applications can be expected. However, since the parameters of this type of robot cannot be easily identified and depend on the operating conditions due to some high nonlinearities such as the fluid resistance of control valves and the sliding frictions, to obtain the desired control performance over a more extensive range of operations, an adaptive control strategy capable of accomodating the uncertainties and variations of system parameters is required. And its control algorism had better be as simple as possible.In this study, to satisfy above requirements a novel control scheme is proposed on the basis of the variable structure system theory, named an adaptive variable structure control scheme. In this control, the phase-plane trajectory is confined on the switching line like in the sliding mode control, but the switching line is rotated adaptively to the phase-state. This control scheme can overcome the problem of chattering encountered in the usual sliding mode control, in addition, it can always generate the specified trajectory approaching the state origin without any overshoot.It is applied to a practically used articulated robot which is pneumatically actuated with the pulse code modulation type digital servo previously developed by the author. The PTP type position control is executed and of which the dynamic response and the positioning accuracy are experimentally examined. As a result, the obtained control performance is so satisfactory that the efficiency of the proposed control scheme may be ascertained. And its flexibility in setting the control parameter values makes itself very practically available." @default.
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- W2326873301 date "1989-01-01" @default.
- W2326873301 modified "2023-10-18" @default.
- W2326873301 title "Adaptive Variable Structure Control of Pneumatically Actuated Robot" @default.
- W2326873301 cites W1806728844 @default.
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- W2326873301 doi "https://doi.org/10.9746/sicetr1965.25.200" @default.
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