Configuration and Optimal Control of Hydraulic/Pneumatic Hybrid Actuator with 2-DOF

Configuration and Optimal Control of Hydraulic/Pneumatic Hybrid Actuator with 2-DOF

A pneumatic actuator outputs large power in proportion to weight and can be installed in an inexpensive, light and compact configuration. From the standpoint of controllability, however, it is weak due to nonlinearity by compression and delayed transfer of air, it has a problem of poor accuracy in p...

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Veröffentlicht in:Journal of robotics and mechatronics 2001-06, Vol.13 (3), p.238-244
Hauptverfasser: Ohtomo, Atsushi, Sasaki, Yasuharu
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container_title Journal of robotics and mechatronics
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creator Ohtomo, Atsushi
Sasaki, Yasuharu
description A pneumatic actuator outputs large power in proportion to weight and can be installed in an inexpensive, light and compact configuration. From the standpoint of controllability, however, it is weak due to nonlinearity by compression and delayed transfer of air, it has a problem of poor accuracy in position control. To solve such problem, we propose a hydraulic/pneumatic hybrid actuator that has a pneumatic cylinder and hydraulic cylinder in parallel and uses the hydraulic cylinder as damper. We demonstrate that it can be used in practice and structurally applying it to a manipulator with 2-DOF. It also demonstrates that high-speed and stable control can be achieved by applying optimal control method.
doi_str_mv 10.20965/jrm.2001.p0238
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title Configuration and Optimal Control of Hydraulic/Pneumatic Hybrid Actuator with 2-DOF
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