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Motion control of parallel manipulator using pneumatic artificial actuators

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3 Author(s)
Akihito Ito ; Faculty of Engineering, University of Yamanashi, Takeda 4-3-11, Kofu city, Japan ; Koh Kiyoto ; Nobuyuki Furuya

In this paper, we describe the motion control of a parallel manipulator with two degrees of freedom. The parallel manipulator uses three pneumatic artificial actuators. We adopted the minimum number of pneumatic artificial actuators that are required to move a joint with two degrees of freedom because this manipulator is applied to the joint of a robot hand. It is known that the relationship between the inner pressure and contraction ratio of pneumatic artificial actuators is highly nonlinear and includes a hysteresis characteristic. Therefore, in this study, we perform motion control using a control system with integrated hysteresis compensation.

Published in:

Robotics and Biomimetics (ROBIO), 2010 IEEE International Conference on

Date of Conference:

14-18 Dec. 2010