1A2-C06 空気圧シリンダの実時間柔軟性制御(アクチュエータの機構と制御)

概要

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In order for human beings and robots to live together, it is important to make the stiffness in driving part of robot being variable in real time and arbitrarily like human beings. Especially, we pay attention to the robot arms. In order to realize robot arms with variable stiffness in joint parts, we suggest using pneumatic cylinders for the robot arms because they have a lot of advantages. For example, by using them, we can not only adjust the level of backdrivability easily and widely, but also construct safety, clean and light system and achieve a high speed operation. As the preliminary experiment to realize robot arms above, we control the stiffness of a pneumatic cylinder with one degree of freedom in real time. This time, we change the differential pressure at both ends of the pneumatic cylinder by using a simple control technique like PID control.
一般社団法人日本機械学会の論文
2007-05-11