ねじり型釣糸人工筋アクチュエータのトルク制御

Translated title of the contribution: Torque Control of Torsional-Type Fishing-Line Artificial Muscle Actuator

大岩 千隼, 荒川 武士, 舛屋 賢, 田原 健二, 入澤 寿平, 安積 欣志, 高木 賢太郎

Research output: Contribution to journalArticle

Abstract

<p>Fishing-line artificial muscle is one of the soft actuators attracting a lot of attention. It is made of commercially available polymer fiber. It is heat-driven actuator, so that its efficiency and responsiveness are low. However it is a low-cost, light-weight, large-force, large-stroke, quiet actuator and can be easily made. It is roughly divided into the contract type actuator and the torsional type actuator. In this study, we focus on the torsional type actuator and aim at black-box modeling and controlling it. Torsional type fishing-line actuator generates torsional torque and limited rotation angle. In this paper, we assume first-order transfer function as the model of the torque from the electrical power applied the actuator. In the experiment, we measure the torque and identify the system. Then we control the torque of it with PI control, and validate the model and design of control system.</p>
Original languageJapanese
Pages (from-to)2A1-A04
Journalロボティクス・メカトロニクス講演会講演概要集
Volume2017
Issue number0
DOIs
Publication statusPublished - 2017

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Torque control
Muscle
Actuators
Torque
Transfer functions
Control systems
Fibers
Polymers

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ねじり型釣糸人工筋アクチュエータのトルク制御. / 大岩千隼; 荒川武士; 舛屋賢; 田原健二; 入澤寿平; 安積欣志; 高木賢太郎.

In: ロボティクス・メカトロニクス講演会講演概要集, Vol. 2017, No. 0, 2017, p. 2A1-A04.

Research output: Contribution to journalArticle

大岩千隼, 荒川武士, 舛屋賢, 田原健二, 入澤寿平, 安積欣志 & 高木賢太郎 2017, 'ねじり型釣糸人工筋アクチュエータのトルク制御', ロボティクス・メカトロニクス講演会講演概要集, vol. 2017, no. 0, pp. 2A1-A04. https://doi.org/10.1299/jsmermd.2017.2A1-A04
大岩千隼 ; 荒川武士 ; 舛屋賢 ; 田原健二 ; 入澤寿平 ; 安積欣志 ; 高木賢太郎. / ねじり型釣糸人工筋アクチュエータのトルク制御. In: ロボティクス・メカトロニクス講演会講演概要集. 2017 ; Vol. 2017, No. 0. pp. 2A1-A04.
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