Nihon Kikai Gakkai ronbunshu (Sep 2014)

Force control of moving object using adaptive control

  • Yuji YAMADA,
  • Yasuyuki TAKATSU,
  • Takahiro NOMURA,
  • Toshiro NORITSUGU

DOI
https://doi.org/10.1299/transjsme.2014dr0266
Journal volume & issue
Vol. 80, no. 817
pp. DR0266 – DR0266

Abstract

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A pneumatic servo seems to be effectively applied to many varieties of gripping or compressing works, because its high compressibility is useful to the force control. In the force control system, the characteristic of the object is comprised in the closed loop, so its influence has to be considered in the design of controller. However, it is generally unknown and often changes during operation. In particular, the characteristics of the plant changes significantly, when the object is moving. To cope with these problems, more intelligent control schemes are required. In this paper, we propose a design scheme of a model reference adaptive control with Neural Network for a force control system with pneumatic servo. The effectiveness of the proposed design scheme is confirmed by experiments using the existent pneumatic servo system.

Keywords