Bouc-Wenモデルを用いた空気圧ゴム人工筋のモデル化  [in Japanese] Modeling of pneumatic artificial rubber muscle using Bouc-Wen model  [in Japanese]

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Abstract

<p>A Pneumatic Artificial Rubber Muscle (PARM) shrinks by inhaling compressed air. PARM has light and high output characteristics like human muscles. Therefore an application study to the robot fields such as assistance robot and arm robot has been conducted. However, PARM has hysteresis characteristics with different amounts of contraction during periodic operation and it is difficult to control accuracy. From this, it is a problem to improve the accuracy of the control system in consideration of the hysteresis characteristic of PARM. The purpose of this research is to compensate the hysteresis characteristics by applying the disturbance observer to the control system. In the disturbance observer, it is necessary to model the controlled object, and the control performance is influenced by the accuracy of this modeling. In this research, we propose to use the Bouc-Wen model to express the hysteresis characteristics of PARM. The effectiveness of the proposed method is verified by experiment.</p>

Journal

  • The Proceedings of Conference of Kanto Branch

    The Proceedings of Conference of Kanto Branch 2019.25(0), 19G03, 2019

    The Japan Society of Mechanical Engineers

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