DocumentCode
3440859
Title
Development of a hexahedron rubber actuator
Author
Shimizu, Takaaki ; Hayakawa, Yasuhiro ; Kawamura, Sadao
Author_Institution
Ritsumeikan Univ., Kyoto, Japan
Volume
3
fYear
1995
fDate
21-27 May 1995
Firstpage
2619
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location
Nagoya
ISSN
1050-4729
Print_ISBN
0-7803-1965-6
Type
conf
DOI
10.1109/ROBOT.1995.525652
Filename
525652
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