2A2-J05 空気圧バルーン型腱駆動アクチュエータのモデル予測制御(アクチュエータの機構と制御)

概要

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In recent years, Japanese society has been aging, engendering a labor shortage of young workers. Robots are therefore expected to be useful to perform tasks such as day-to-day work support for elderly people. Then, tendon-driven balloon actuator has been developed for the robot hand in such environments. In this study, we have evaluated characteristics of force control of balloon actuator using predictive functional control (PFC) system. The predictive functional control is one of the model based predictive control (MPC) schemes, which predict the future outputs of actual plant over prediction horizon and compute the control effort over control horizon at every sampling instance. In this paper, PFC control performances of 1-link finger using pneumatic balloon actuator are reported.
一般社団法人日本機械学会の論文
2011-05-26