Eiji Murayama

Study on Control Performance with Consideration of Articulated Manipulators with Pneumatic Cylinders

The biggest problem of using a pneumatic system in an actuator is the difficulty of handling caused by the compressibility of air. This is especially true when taking measures for stick-slip phenomenon that occurs when driving cylinders at low speeds. This paper identifies nonlinear friction which is the main cause of stick-slip phenomenon using the LuGre friction model and examines its effect using a simulation model. This paper also examines and reports the improvement of position control using Simple Adaptive Control System.

Development of new articulated manipulators with compact pneumatic cylinders

We have developed new articulated manipulators with compact pneumatic cylinders and with the high levels of structural flexibilities and safety as a result of adoption of new ideas in the structure. In developing the new articulated manipulators, we have first defined the design concepts and then described the overview of the manipulators which we have actually designed and manufactured. We have carried out experiments with the manufactured articulated manipulators for their positional controllability and stiffness characteristics, the results of which are also reported in this paper. Furthermore, this paper refers to possible applications of the developed new articulated manipulators.