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

研究成果: Contribution to journalArticle

抄録

<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>
寄稿の翻訳タイトルTorque Control of Torsional-Type Fishing-Line Artificial Muscle Actuator
本文言語Japanese
ページ(範囲)2A1-A04
ジャーナルロボティクス・メカトロニクス講演会講演概要集
2017
0
DOI
出版ステータス出版済み - 2017

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