Development of ER Actuator and Basic Study on its Force Control System.

• Sakaguchi Masamichi

  Osaka University

• Furusho Junji

  Osaka University

• Zhang Guoguang

  Osaka University

• Wei Zhidan

  CHUGAI RO CO., LTD.

Bibliographic Information

Other Title

• ＥＲアクチュエータの開発およびその力制御に関する基礎研究
• ERアクチュエータの開発及びその力制御に関する基礎研究
• ER アクチュエータ ノ カイハツ オヨビ ソノ チカラ セイギョ ニ カンス

Abstract

We developed a high-performance actuator using particle-type ER fluid. This ER actuator have high torque/inertia ratio, and can respond quickly. In this paper, the force control properties of this actuator were examined experimentally. Firstly, we developed the model of ER actuator based on experiments. Then the feedback control system is designed by H∞ control theory. Lastly, the proposed control system is examined by experiments.

Journal

• Journal of the Robotics Society of Japan

  Journal of the Robotics Society of Japan 16 (8), 1108-1114, 1998

  The Robotics Society of Japan

Keywords

• ER Fluid
• Actuator
• Robotics
• Force Control
• <I>H<SUB>∞</SUB></I> Control Theory

Details

• CRID: 1390282679701408384
• NII Article ID: 10002865054
• NII Book ID: AN00141189
• DOI: 10.7210/jrsj.16.1108
• ISSN: 18847145
• ISSN: 02891824
• NDL BIB ID: 4604018
• Web Site: http://id.nii.ac.jp/1476/00004596/
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I4604018
• Text Lang: ja
• Data Source:
  • JaLC
  • IRDB
  • NDL
  • Crossref
  • CiNii Articles
• Abstract License Flag: Disallowed