論文
収縮率推定によるMcKibben型空気圧ゴム人工筋の位置決め制御実験
2017 年 53 巻 11 号 p. 567-573
詳細
2017 年 53 巻 11 号 p. 567-573
This paper considers position control of a practical McKibben pneumatic artificial muscle without measuring a PAM length. Unscented Kalman filter is employed to estimate the length based on pressure measurement. Comparing with some PID control systems, the effectiveness that UKF can be used as a distance sensor for the PAM position control is illustrated.
