ゴム人工筋2リンクマニピュレータの線形軌道追従制御

抄録

Trajectory tracking control problems are described for a two-link robot manipulator with artificial rubber muscle actuators. Under the assumption that the so-called independent joint control is applied to the control system, the dynamic model for each link is identified as a linear second-order system with time lag by the step response. Tow control laws, the computed torque and optimal servo control methods, are designed and experimentally applied to the actual robot manipulator. The effectiveness of the proposed control method for the robot manipulator is illustrated through simulations and experiments.