2A2-P06 Posture control of spherical joint using rubberless artificial muscle(Mechanism and Control for Actuator (2))

Abstract

This paper reports the posture control of a spherical joint antagonistic drive system using a rubberless artificial muscle. This system is a robot joint in which the spherical bearing is driven by two antagonistic structure of a rubberless artificial muscle. The angle measurement device attached to spherical bearing measures the posture of joint. Experiment is a posture control of a joint using two DOF PI control system, at the case of a changing the antagonistic force or a changing the joint posture. Results of the experiment verified that this drive system can move with a target value in these cases.