Trajectory follow-up control by enclosing control with rotary pneumatic 2-link manipulator

The passive dynamic control (PDC) is a mechanical system control method based on an inherently safe design means using a brake mechanism effectively. Since control only with an actuator does not have a stopping mechanism, this kind of control cannot prevent deviation from the target trajectory in case of trouble. On the other hand, the PDC follow-up control can prevent deviation from the target trajectory by operating the brake mechanism. Since the PDC follow-up control can be envisaged as gradually narrowing down the wide area around a control object to enclose it toward the target trajectory, the authors designate this control as “enclosing control.” This paper describes the application of the enclosing control to a rotary pneumatic manipulator. First, in a sine track trajectory follow-up control experiment using only one link, the effectiveness of the PDC is demonstrated in comparison with the PI control. Next, in a circular trajectory follow-up control experiment using a 2-link manipulator, the effect of the enclosing control is verified.