关键词: 机械手, 连续轨迹, 气动比例/伺服, 扰动观测, 最优状态反馈, 关键公差, 几何回转精度, 累积路径, 误差传递, 有向图

Abstract: The continuous trajectory tracking control to pneumatic-servo robot with three-degree-of-freedom is discussed. The mathematical model of system is presented. With the optimal state-feedback, PI control and disturbance observer compensation being used in pneumatic-servo system, the well continuous trajectory tracking is achieved. It is experimented to tracking calligraphy trajectory. Experiment results show that the pneumatic-servo robot has excellent accuracy and can rival the expensive electro-servo robot in many area of industry.

Key words: Continuous trajectory, Disturbance observer, Optimal state-feedback, Pneumatic-servo, Robot, Accumulating path, Directed graph, Geometric rotation accuracy, Key tolerance, Variation propagation