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>
Translated title of the contributionTorque Control of Torsional-Type Fishing-Line Artificial Muscle Actuator
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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