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IJAT Vol.10 No.4 pp. 503-510
doi: 10.20965/ijat.2016.p0503
(2016)

Paper:

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Posture Control Considering Joint Stiffness of a Robotic Arm Driven by Rubberless Artificial Muscle

Naoki Saito† and Toshiyuki Satoh

Akita Prefectural University
84-4 Ebinokuchi, Tsuchiya, Yurihonjo Akita, Japan

†Corresponding author,

Received:
January 13, 2016
Accepted:
April 26, 2016
Published:
July 5, 2016
Creative Commons License
Keywords:
artificial muscle, joint stiffness, robotic arm, posture control, passive stiffness
Abstract
This paper describes a joint angle control considering the passive joint stiffness of robotic arms driven by rubberless artificial muscle (RLAM), which is a pneumatic actuator. The contraction mechanism of RLAM is the same as that of the McKibben artificial muscle. Unlike the McKibben artificial muscle, RLAM is constructed using an airbag made of a nonelastic material instead of a rubber tube.
The objective of this study is to realize a soft contact movement of robotic arms by applying the passive compliance characteristics of RLAMs. In this study, we derive a mathematical expression for the relationship between the output of an RLAM and the joint stiffness of a robotic arm. In addition, we suggest a control scheme for each RLAM. We confirm the validity of these suggestions experimentally. From the result, we observe a good control performance of the joint angle. A robotic arm moves smoothly according to the force added from outside by setting the passive stiffness of the arm.
Cite this article as:
N. Saito and T. Satoh, “Posture Control Considering Joint Stiffness of a Robotic Arm Driven by Rubberless Artificial Muscle,” Int. J. Automation Technol., Vol.10 No.4, pp. 503-510, 2016.
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