MRFロボットアームのための力学的・幾何的順応性を高める基本制御システムの試作

抄録

The purpose of this study is to develop a basic control system that enhances mechanical and geometric adaptability for magnetorheological fluid (MRF) robot arms with high backdrivability and high output power, which we have developed in a previous study. A prototype control system was developed to control the force of the endpoint by controlling pressure in the actuator. The results of gravity compensation and surface copying motion experiments were conducted. The experimental results showed that proposed controller could effectively control the MRF robot arm.