| PATH CONTROL OF A 3-DOF ROBOT MECHANISM ACTUATED WITH LOW-PRESSURE AIR POWERED MOTORS |
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| 作者姓名： | 张毅 邹慧君 周双林 |
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| 作者单位： | ZHANG Yi 1 ( Nishi Akira 1，ZOU Hui jun 2 ZHOU Shuang lin 2
(1. Faculty of Engrg.，Miyazaki Univ.，889 2192，Japan; 2. Dept. of Mechanical Engrg.，Shanghai Jiaotong Univ.，Shanghai 200030，China |
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| 摘 要： | ＩｎｔｒｏｄｕｃｔｉｏｎＡｉｒ－ｐｏｗｅｒｅｄｍｏｔｏｒｓｈａｖｅｔｈｅａｄｖａｎｔａｇｅｓｏｆｌｏｗｃｏｓｔ，ｇｏｏｄｐｏｗｅｒ－ｔｏ－ｗｅｉｇｈｔｒａｔｉｏ，ａｎｄｉｎｔｒｉｎｓｉ－ｃａｌｙｓａｆｅｏｐｅｒａｔｉｏｎ［１］．Ｔｈｅｓｅｃｈａｒａｃ...
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PATH CONTROL OF A 3 DOF ROBOT MECHANISM ACTUATED WITH LOW PRESSURE AIR
POWERED MOTORS |
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| ZHANG Yi.PATH CONTROL OF A 3-DOF ROBOT MECHANISM ACTUATED WITH LOW-PRESSURE AIR POWERED MOTORS[J].Journal of Shanghai Jiaotong university,1999(1). |
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| Authors: | ZHANG Yi |
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| Institution: | ZHANG Yi 1 |
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| Abstract: | This paper described the
researches carried out on the characteristics and control of a low pressure pneumatic system
to actuate a three degree of freedom (3 DOF) robot. The motors used are the low pressure
rotary type air motors equipped with two valves to adjust the motor speed and its direction. The
3 DOF model was used to perform the test of path control under different amounts of payload. A
control algorithm based on the PID feedback control was developed for the robot. |
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| Keywords: | air motor pneumatic actuator robot control rotary type air motor |
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