221 路面状況呈示装置におけるエアシリンダ部の制御(ロボティクスI)

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  • 221 Control of Air Cylinders on Terrain Simulating Platform

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A terrain simulating platform which is used in the master-slave system of a biped walking robot is proposed to convey the reaction force of the ground from the robot to the operator soles. This platform is composed of two xy sliding mechanisms and two parallel link mechanisms which use air cylinders. A control system of air cylinders is considered here which feeds back state variables obtained by strain gauges and potentiometers mounted on the cylinders to the Microcontroller Unit.

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