Title :
A force control of network of actuators
Author :
Murakami, Toshiyuki ; Ishibashi, Hirozumi ; Ohnishi, Kouhei
Author_Institution :
Dept. of Electr. Eng., Keio Univ., Yokohama, Japan
Abstract :
The paper describes a control strategy of network of actuators. First, some examples of the network systems are shown. Secondly, to control such systems, the force transmission mechanism is realized. In the proposed network motion system, the total system consists of many force transmission lines and the superposition of the force signal propagated by each line acts on the end point. In this sense, the proposed motion control method is called the delay superposition method.<>
Keywords :
actuators; force control; position control; robots; actuator network systems; artificial muscle systems; delay superposition method; force control; force transmission; motion control; robotics; Actuators; Control systems; Force control; Force feedback; Motion control; Muscles; Nonlinear control systems; Nonlinear systems; Robots; Transmission lines;
Conference_Titel :
Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on
Conference_Location :
Pisa, Italy
Print_ISBN :
0-7803-0078-5
DOI :
10.1109/ICAR.1991.240393
