湾曲型空気圧ゴム人工筋肉を用いた冗長マニピュレータの開発

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  • Development of redundant manipulator using bending type pneumatic rubber artificial muscle

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<p>This paper describes the development of a redundant manipulator using pneumatic rubber artificial muscle.Manipulator is expected to be used in many situations such as nursing care and service robots as robots enter the living environment in recent years.Thus, manipulators must be safe and adaptable to complex environments in which obstacles must be avoided.In this study, we develop a flexible and safe redundant manipulator with structural flexibility.The redundant manipulator has series structure of units which is having two degrees of freedom.The unit operates by the deformation of the bending type pneumatic rubber artificial muscle caused by the application of air pressure.However, it has nonlinearity and hysteresis, and is difficult to control.We proved using neural network to control unit have nonlinearity and hysteresis is effective.</p>

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