Control of offset pressure for pneumatic robots

We proposed a control algorithm for pneumatic robots which can realize accurate position control and speed control. The control algorithm achieves quick response and less overshoot using the conventional proportional controller with a variable offset pressure controller. The experimental results showed that a rise time was almost the same as that of the conventional PD controller, but a tracking accuracy was improved about 45[%] when the ramp input was given as the target. Furthermore, the performance to disturbance is a control algorithm higher than PID controller.