Abstract
This paper reports the posture control of a spherical joint antagonistic drive system using a rubberless artificial muscle. This system is a robot joint in which the spherical bearing is driven by two antagonistic structure of a rubberless artificial muscle. The angle measurement device attached to spherical bearing measures the posture of joint. Experiment is a posture control of a joint using two DOF PI control system, at the case of a changing the antagonistic force or a changing the joint posture. Results of the experiment verified that this drive system can move with a target value in these cases.
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Schedule a callMore From: The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
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