抄録
This paper describes motion control of two-degree-of-freedom parallel manipulator which used pneumatic artificial actuators. This parallel manipulator uses three pneumatic artificial actuators. We adopted minimum number of pneumatic artificial actuators that could move two-degree-of-freedom joint, because this manipulator is applied to a joint of robot hand. It is known that high-nonlinearity with the hysteresis characteristic exists in the relationship between inner pressure and contraction ratio of pneumatic artificial actuators. Therefore, in this study, we perform motion control by using the control system which integrated hysteresis compensation.
