抄録
In the field of Mechatronics, small-sized actuators with multi-degrees of freedom are desired so that dextrous performance is achieved, especially for small size robot development. We have developed a wire-driven system with a linearactuator to solve this problem. The characteristics of wire-drives are rather complicated because of its unknown stiffness, backlash and friction. After parameter identification as a 2-mass model, H∞ controller was designed for this model which has a integral function in its transfer function. The H∞ controller shows a good performance compare with observer-based-control and sliding-mode-control. It has good rdsponse for reference and ohserving noise rejaection and it is robust.
