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Abstract:
The
continuous trajectory tracking control to pneumatic-servo robot with
three-degree-of-freedom is discussed. The mathematical model of system
is presented. With the optimal state-feedback, PI control and
disturbance observer compensation being used in pneumatic-servo system,
the well continuous trajectory tracking is achieved. It is experimented
to tracking calligraphy trajectory. Experiment results show that the
pneumatic-servo robot has excellent accuracy and can rival the expensive
electro-servo robot in many area of industry.
Key words:
Robot
Pneumatic-servo Continuous trajectory Optimal state-feedback
Disturbance observer
CLC No: TP271.32
国家863智能机器人主题资助项目，浙江省科技计划重点资助项目. Received 20000525,
received in revised form 20001028
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