ラバーレス人工筋肉駆動型手首ロボットの入力飽和を考慮した姿勢制御

抄録

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.