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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.