ストラットの傾斜角誤差に基づいたテンセグリティマニピュレータの姿勢制御

抄録

This paper describes a feedback control based on a data-driven feedforward posture controller of a pneumatically driven tensegrity manipulator. Since most tensegrity robots lack a clear joint structure, it is difficult to express their posture using joint angles. Therefore, the target posture is specified using the inclination angles of all struts calculated with respect to the direction of gravity, and feedforward posture control is used to obtain control inputs directly from the inclination angles. However, the effect of friction and hysteresis of the pneumatic cylinder causes errors in control accuracy. To address this problem, a feedback control system is designed to adjust the control input based on the inclination angle error between the target and reproduced postures. The experimental results showed that the feedback control effectively reduced the inclination angle error in a simple bending motion, with a maximum error reduction of about 31.0%.