抄録
This paper describes about a posture control of a spherical joint useful as the joint of the robot. A spherical bearing has three degree of freedom, and achieves the same movement as human's wrist joint. Therefore, we developed a wrist joint robot using the spherical bearing. This robot is actuated by three pneumatic artificial muscles driven systems. The posture control of the wrist joint using a fuzzy controller is demonstrated. The possibility that the spherical joint can be used as a robot joint is obtained experimentally
