2A1-E07 外乱オブザーバ併用型予測機能制御に基づくバルーン型腱駆動アクチュエータのストローク制御(アクチュエータの機構と制御(1))

• 永瀬 純也

  龍谷大

• 佐藤 俊之

  秋田県大

• 嵯峨 宣彦

  関西学院大

• 鈴森 康一

  岡山大

書誌事項

タイトル別名

• 2A1-E07 Predictive Functional Control System with Disturbance Observer for Stroke Control of Pneumatic Tendon-driven Balloon Actuator(Mechanism and Control for Actuator(1))

抄録

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. Consequently, a tendon-driven balloon actuator has been developed for a robot hand in such environments. This study evaluated stroke control characteristics of a balloon actuator using a predictive functional control (PFC) system. Predictive functional control, a model based on predictive control (MPC) schemes, predicts the future outputs of the actual plant over the prediction horizon and computes the control effort over the control horizon at every sampling instance. In this paper, performances of PFC control with disturbance observer of 1-link finger using pneumatic balloon actuator are reported.

収録刊行物

• ロボティクス・メカトロニクス講演会講演概要集

  ロボティクス・メカトロニクス講演会講演概要集 2012 (0), _2A1-E07_1-_2A1-E07_2, 2012

  一般社団法人 日本機械学会

キーワード

• Predictive functional control
• Disturbance observer
• Pneumatic balloon
• Tendon driven
• Robot hand

詳細情報

• CRID: 1390282680914921344
• NII論文ID: 110009908577
• DOI: 10.1299/jsmermd.2012._2a1-e07_1
• ISSN: 24243124
• Web Site: https://www.jstage.jst.go.jp/article/jsmermd/2012/0/2012__2A1-E07_1/_pdf
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可