ER流体クラッチを利用した往復運動：ニューラルネットワークモデルおよびPD計算トルク法による位置制御の実現

抄録

A reciprocating linear actuation system utilizing electrorheological (ER) fluid clutches is developed. In this paper, we focus on achieving accurate position control of the proposed system. In order to realize real-time application, a simple feedforward neural network with a single hidden layer is examined to model the inverse problem of torque transmission. We then develop the position controller based on the computed torque control (CTC) framework, augmented with a proportional–derivative (PD) feedback loop. Experimental results confirm that the proposed control architecture delivers robust and accurate position control, even under disturbances caused by randomly changing motor torque inputs.