Posture Control Considering Joint Stiffness of a Robotic Arm Driven by Rubberless Artificial Muscle
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- Saito Naoki
- Akita Prefectural University
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- Satoh Toshiyuki
- Akita Prefectural University
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抄録
<p>This paper describes a joint angle control considering the passive joint stiffness of robotic arms driven by rubberless artificial muscle (RLAM), which is a pneumatic actuator. The contraction mechanism of RLAM is the same as that of the McKibben artificial muscle. Unlike the McKibben artificial muscle, RLAM is constructed using an airbag made of a nonelastic material instead of a rubber tube.</p><p>The objective of this study is to realize a soft contact movement of robotic arms by applying the passive compliance characteristics of RLAMs. In this study, we derive a mathematical expression for the relationship between the output of an RLAM and the joint stiffness of a robotic arm. In addition, we suggest a control scheme for each RLAM. We confirm the validity of these suggestions experimentally. From the result, we observe a good control performance of the joint angle. A robotic arm moves smoothly according to the force added from outside by setting the passive stiffness of the arm.</p>
収録刊行物
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- International Journal of Automation Technology
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International Journal of Automation Technology 10 (4), 503-510, 2016-07-05
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