Abstract
In this study, achievement of an intelligent multipurpose control system by handling a multifunctional actuator is aimed. In the system that has a dynamic interaction between robot and human or environment, the multipurpose control system that fills a position and the stiffness is needed. Past stiffness control techniques include a problem that design complexity and design upsizingly. In this study, a multifunctional actuator is paid attention to build this control system more simply. The multifunctional actuator can set an target angle and the stiffness easily, but it is difficult to create appropriate control instructions to realize the desired reaction of the system. Therefore, an intelligent controller is built to solve this problem. The constructed controller is applied to a multifunctional actuator. And, the effectiveness of the intelligent multipurpose control system is verified by the landing simulation of the robot.
