Title :
Development of a hexahedron rubber actuator
Author :
Shimizu, Takaaki ; Hayakawa, Yasuhiro ; Kawamura, Sadao
Author_Institution :
Ritsumeikan Univ., Kyoto, Japan
Abstract :
A new type of pneumatic rubber actuators is proposed in this paper. The proposed actuator has a hexahedron structure which is suitable for making a rotational joint of a robot. We reveal the static characteristics of the actuator. It is experimentally demonstrated that a position feedback control law realize fast motions without oscillation. Moreover, we propose an adaptive gain method for the actuator to improve control performance. The effectiveness of the proposed method is confirmed through an experiment
Keywords :
actuators; feedback; pneumatic control equipment; position control; robots; rubber; adaptive gain; hexahedron rubber actuator; pneumatic rubber actuators; position feedback control; rotational joint; static characteristics; Adaptive control; Bladder; Educational institutions; Feedback control; Force sensors; Payloads; Pneumatic actuators; Programmable control; Robots; Rubber;
Conference_Titel :
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-1965-6
DOI :
10.1109/ROBOT.1995.525652
