ソフト油圧アクチュエータのモデルベース位置制御
Model Based Position Control of Soft Hydraulic Actuators
拮抗配置したソフト油圧アクチュエータに対し、ポートハミルトニアン系に基づくモデルとエネルギー整形制御・外乱オブザーバを組み合わせ、0.043mmの高精度位置決めを実現した。
著者: Mark Runciman, Enrico Franco, James Avery, Ferdinando Rodriguez y Baena, George Mylonas
分類: cs.RO
原文アブストラクト
In this article, we investigate the model based position control of soft hydraulic actuators arranged in an antagonistic pair. A dynamical model of the system is constructed by employing the port-Hamiltonian formulation. A control algorithm is designed with an energy shaping approach which accounts for the pressure dynamics of the fluid. A nonlinear observer is included to compensate the effect of unknown external forces. Simulations demonstrate the effectiveness of the proposed approach, and experiments achieve positioning accuracy of 0.043 mm with a standard deviation of 0.033 mm in the presence of constant external forces up to 1 N.
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