2A1-O05 Study on vibration suppression of the velocity control of a linear actuator using ER gel(Mechanism and Control for Actuator (1))

Abstract

We developed a linear actuator using ER gel to apply a human-coexistence robot, e.g. power assistance system or rehabilitation system. In this paper, we have treated a velocity control of the actuator referring to the to position and velocity response model. We have verified a vibration in the response of simple IP control system. Therefore, we introduce a disturbance observer to compensate the model error.