2014 Fiscal Year Final Research Report
Motion Control of Ultra-lightweight Multi-DOF Manipulators made by Plastic Films
| Project/Area Number |
25630099
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| Research Category |
Grant-in-Aid for Challenging Exploratory Research
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| Allocation Type | Multi-year Fund |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Ritsumeikan University |
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Principal Investigator |
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| Co-Investigator(Kenkyū-buntansha) |
SHIMONOMURA Kazuhiro 立命館大学, 理工学部, 准教授 (80397679)
NISHIOKA Yasutaka 滋賀県立大学, 工学部, 助教 (70609734)
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| Project Period (FY) |
2013-04-01 – 2015-03-31
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| Keywords | ロボットアーム / インフレータブル / 空気圧駆動 / ビジュアルフィードバック制御 |
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| Outline of Final Research Achievements |
An inflatable robot arm with 4DOF was developed in this research. A special joint was designed to effectively transmit the torque generated by the actuators. By pressurizing a multi-layer element in the joint, the normal force to the multi-layer element is controlled to generate appropriate tangential force. Basing on this idea, quasi-viscosity was produced by using feedback control of joint angular velocity. It was implemented by high speed visual feedback of FPGA. A new visual feedback control method was developed for inflatable robot arms which is applicable for flexible links. An inflatable robot arm with 3DOF was successfully controlled by the developed method. It was experimentally confirmed that the robot could stop within 1mm error from desired positions. This result cannot be reached by previous control methods.
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| Free Research Field |
ロボティクス
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