Recognition of Elastic Characteristic of Object Using Pneumatic Parallel Manipulator

Abstract

The goal of this study is to develop a mechanical system that can display elastic characteristic of an object aiming at the application in the field of virtual reality. Pneumatic parallel manipulator is introduced as a driving mechanism, consequently, which brings capability of minute force displaying property owing to the air compressibility. Compliance control system without using force/moment sensor is constructed by introducing a disturbance observer and a compliance display scheme is proposed. The validity of the proposed scheme is verified experimentally.