ゴム人工筋を用いたロボットマニピュレータの位置と力のハイブリッド制御

概要

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An artificial rubber muscle has attracted much attention to features of light weight and mechanical flexibility, thus it is anticipated to be applied to a robot which can operate kindly against or with human. However, there are few reports on the multi-d. o. f. manipulator using this actuator. In this study, a hybrid-type position and force control is carried out by using a 2 d. o. f. manipulator comprising this actuator, of which fundamental control performances are investigated. This actuator has a nonlinear characteristic in terms of structure and air compressibility, which makes accurate position control difficult. To cope with these problems, a position controller using a two d. o. f. PID controller is realized by adding a feedforward compensator. As a result, a satisfactory position tracking control performance can be obtained. Also, hybrid control of force control and tracking speed can be accomplished with sufficient accuracy.
社団法人日本機械学会の論文
1995-06-25