動特性モデルを考慮に入れた6自由度ゴム人工筋肉マニピュレータの軌道追従制御

• 戸森 央貴

  中央大学大学院

• 前田 浩之

  中央大学大学院

• 中村 太郎

  中央大学

書誌事項

タイトル別名

• Orbit Tracking Control of 6-DOF Lubber Artificial Muscle Manipulator Considering Nonlinear Dynamics Model

抄録

Robots have entered human life, and closer relationships are being formed between humans and robots. It is desirable that these robots be flexible and lightweight. For this reason, we studied and developed an artificial muscle actuator using straight-fiber-type artificial muscles derived from the McKibben-type muscles, which have excellent contraction rate and force characteristics. However, these muscles have highly nonlinear characteristics, as well as high compliance and a strong hysteresis characteristic. Hence, it is difficult to control the artificial muscle manipulator. In this study, we developed nonlinear dynamics model of the artificial muscle, investigate nonlinear dynamics characteristics of the muscle. In addition, considering nonlinear dynamic characteristics of the artificial muscle, we implore control speck of 6-DOF artificial muscle manipulator.

収録刊行物

• 日本機械学会論文集Ｃ編

  日本機械学会論文集Ｃ編 77 (779), 2742-2755, 2011

  一般社団法人 日本機械学会

キーワード

• Air Actuator
• Artificial Muscles
• Nonliner Dynamics Model
• Manipulator

詳細情報

• CRID: 1390282681363501184
• NII論文ID: 130001055315
• DOI: 10.1299/kikaic.77.2742
• ISSN: 18848354
• ISSN: 03875024
• Web Site: http://www.jstage.jst.go.jp/article/kikaic/77/779/77_779_2742/_pdf
• 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