2A1-E01 人工筋型空気圧アクチュエータを用いた二関節指のモデリングと制御

概要

論文の詳細を見る
Recently, research and development has focused on robots that work in place of people. It is necessary for robots to perform the same flexible motions as people. Additionally, such robots need to incorporate high-level safety features. Here, we present artificial muscle-type pneumatic actuators as the driving source of a robot hand that is both safe and flexible. We develop a low-pressure, low-volume pneumatic actuator for driving a robot hand. We develop a five-fingered robot hand with pneumatic actuators. Next, we make a 2-link arm that has two degrees of freedom using pneumatic actuators, and the models of actuator and 2-link arm is constructed. A control PID control system is constructed, and the gains of the PID control system are determined by the simulation that uses the model of 2-link arm. The step response of the joint angle is examined. Control performance of the PID control system is verified
一般社団法人日本機械学会の論文
2009-05-25