2006 Fiscal Year Final Research Report Summary
Research for Control and Processing of Multi-Degree-of Freedom Manipulator Made Out of an Artificial Muscle
| Project/Area Number |
17560240
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | National Institute of Advanced Industrial Science and Technology |
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Principal Investigator |
NAKABO Yoshihiro AIST, Intelligent Systems Institute, Researcher, 知能システム研究部門, 研究員 (70360609)
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| Co-Investigator(Kenkyū-buntansha) |
MUKAI Toshiharu RIKEN, Biologically Integrative Sensors Laboratory, Team Leader, 生物型感覚統合センサー研究チーム, チームリーダー (80281632)
ASAKA Kinji National Institute of Advanced Industrial Science and Technology, Research Institute for Cell Engineering, Group Leader, セルエンジニアリング研究部門, 研究グループ長 (10184136)
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| Project Period (FY) |
2005 – 2006
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| Keywords | Ionic Polymer Metal Composite / Soft actuator / Electroactive polymer / Distributed parameter system / Euler-Bernoulli beam / Eigenfunction expansion / Micro robot / Impedance model |
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| Research Abstract |
The goal of this research is to develop shape control method and shaping process of the multi-degree-of-freedom manipulations made out of an artificial muscle. We aim to realize formation technology of an artificial muscle and the control of dynamic responses of the manipulator with control algorithm and a control circuit. For this aim, we realize (1) complete control of bending motion of an IPMC and increase forth, strength and stability of the material, and (2) develop dynamic model of the response, apply novel control algorithm and introduce new control drive system, assures the response efficiency improvement of the IPMC bending motion. By the research, high accuracy of position control becomes possible combining with the visual feedback technology which is already developed by our previous research.
During the research period, we realized simulation of the bending form of the IPMC using the distributed parameter system model, considered the design of the control circuit, examined the control method and furthermore controlled voltage level, which is the front stage of the actual manipulator system. To miniaturize the control circuit, the phase shifting circuit made of 3 phase have been developed for system modularization. In addition the appraisal which is based on the model and measurement result which uses distribution constant system concerning the electric impedance of IPMC. Furthermore, when using the ion which differs, we find the change of the model concerning the change of electric impedance. Furthermore actual bending form was measured. Effectiveness was verified for parameter identification by comparison with the result of experiments. In order to control bending freely, in the future, as the manipulator, we think research concerning the control method should be constructed based on our latest model.
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