抄録
Recently, robots not only have been researched and developed actively but also have replaced humans in several fields such as the service and medical industries. For robots to coexist with humans and provide support, they must have human-like dexterity and should be very safe. Therefore, pneumatic artificial actuators are used to develop safe and lightweight robot. However, the relationship between the internal pressure and contraction ratio of pneumatic artificial actuators is nonlinear, with a hysteresis characteristic and a dead zone. Moreover, the nonlinear characteristics of pneumatic actuators change with the applied load. By such characteristics, controlled performances of equipments mounted pneumatic artificial actuators are unsatisfactory. In this study, we proposed a hysteresis model that can express the change in these hysteresis characteristics, and we constructed a position and force control system that integrated this hysteresis compensation by using the proposed hysteresis model.
