Posture control in consideration of the input saturation of the wrist robot which drives Rubberless artificial muscle

Abstract

There is an input saturated phenomenon in the peculiar problem which is at the time of air pressure control. It makes degradation of the servo characteristics and a decline of the control performance. When doing posture control which considered input saturation by the preceding study, the problem such as the control performance falling has formed. By this study, we purpose to control system is reorganize, Improve input saturation and control performance doesn't fall.