ラバチュエータを用いた一軸ロボットハンドの力制御: 離散スライディングモード制御の適用

抄録

We constructed a one-link robot hand by using a pair of Rubbertuators. Because of hysteresis and nonlinearity of Rubbertuator, it is too hard to formulate an accurate model. So, we tried to apply the sliding mode theory to control the Rubbertuator-driven mechanism. The sliding mode controll for continuous system have been studied well, but a digital version is required for practical applications. We confirmed the validity of the digital sliding mode control, through experiments, by using it to control the Rubbertuator-driven mechanism.