抄録
Compliance control by a novel hydraulic actuator with built-in compound control function of displacement and thrust, and its applications have been studied. It was realized by measuring the rotational angles of stepping motor shaft and body, and adjusting their feedback weight parameters separately. The explanation of the compliance control function and analysis of static and dynamic characteristics were conducted. Through the preliminary experiments, it is confirmed that the actuator is very effective in the compliance control. Furthermore, as an application, experiment of grasping and lifting a ball was conducted. It was clear that the actuator can be used for the control of displacement, thrust and compliance.
