抄録
The passive dynamic control ("PDC") is a mechanical system control method based on an inherently safe design. It ensures safety of system by positively using a brake. For a two-link manipulator which used two antagonistic pneumatic artificial muscle actuators in a horizontal plane, the effectiveness of the PDC was shown. However, in a vertical plane, the balanced state is lost by movement of the controlled object, and the improved PDC was proposed where the PID control was used together with the PDC. Its effectiveness was examined through basic experiments. Here, the effectiveness of the improved PDC for lifting control of 2-link manipulator in a vertical plane is examined, where two arms are controlled simultaneously.
