Proceedings of the Japan Joint Automatic Control Conference
THE 53RD JAPAN JOINT AUTOMATIC CONTROL CONFERENCE
Session ID : 443
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Host: The Japan Society of Mechanical Engineers, The Society of Instrument and Control Engineers, The Institute of Systems, Control and Information Engineers, The Society of Chemical Engineers, Japan, The Japan Society for Precision Engineering, The Japan Society for Aeronautical and Space Sciences

Co-host: Technically Cosponsored by 50 Societies and Institutes

Motion and vibration control for safe and secure society 1
Position Control of Pneumatic Rubber Artificial Muscle Actuator by Passive Dynamic Control
*Shunsuke WAKIMITSU, Yasuhiro MINAMIYAMA, Takanori KIYOTA, Noboru SUGIMOTO
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Abstract
The Passive Dynamic Control(PDC)is a new mechanical system control method based on the inherently safe design. The PDC controls the output of the system by a brake. Here the PDC was applied to the pneumatic rubber artificial muscle actuator. Good results were obtained by continuous positioning control and sinusoidal follow-up control experiments. Furthermore, the effectiveness of the PDC was verified by comparison with the PID control.
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© 2010 JSME
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