321 ヒステリシス特性を考慮した空気圧人工筋マニピュレータの制御

概要

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Recently, robots have replaced humans in several fields such as medical treatment and nursing, and they have been researched and developed actively. For robots to coexist with humans and support them, they must have human-like dexterity and should be very safe. Therefore, pneumatic artificial actuators are used to develop safe and lightweight robot hands. However, it is known that the relationship between the inner pressure and contraction ratio of pneumatic artificial actuators is nonlinear and includes a hysteresis characteristic and a dead zone. And, it is known that the nonlinear characteristics of pneumatic artificial actuators change with the applied load. In this paper, we proposed the hysteresis model that can express the change in these hysteresis characteristics, and constructed control system with integrated this hysteresis compensation using the proposed hysteresis model.
一般社団法人日本機械学会の論文
2011-09-05