特邀嘉宾---Assoc. Prof. Naoki Igo


Department of Systems, Control and Information Engineering, National Institute of Technology, Asahikawa College, Japan


Biography: Naoki Igo is an Associate Professor of National Institute of Technology, Asahikawa College, Japan. He received a Ph.D. in Engineering from University of Tsukuba in 2013. From 2013 to 2017, he was an assistant professor and an associate professor from 2017 at National Institute of Technology, Asahikawa College. His research interests include robot, image processing, virtual reality.

Speech Title: Offset Pressure Controller for Pneumatic Robot Arm
Abstract: We propose a method to control pneumatic robot arm joint with high accuracy by adding offset pressure controller in pneumatic robot arm composed of air cylinder. The offset pressure controller controls the air pressure that gives stiffness to the air cylinder. The controller with the fast rise time generates overshoot. In such a controller, by adding the offset pressure controller, overshoot can be suppressed and fast rise time can be maintained. The offset pressure controller consists of a simple controller (PD controller or D controller). When the target value was set as step input, the offset pressure controller maintained the rise time and could be less than 2% overshoot.