Robust motion control of MR-fluid actuator based on disturbance observer

Kazumasa Miura, Seiichiro Katsura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

Recently, interactions between humans and robots have been changed in order to solve the problems of the aged society. Opportunities that robots touch directly on humans have been increasing. However, active actuators are often used in order to generate force and perform their tasks and they have possibility of hurting people around. Then, stable passive actuators would be substituted for active ones. Passive actuators will not generate force by themselves. Only when external force acts on them, they generate resisitive force. Considering these properties, passive actuators are stable actuators and appropriate for the human society because they would be little risks for humans when they are loss of control. In this paper, the passive actuator is constructed using magnethorheological (MR) fluids and is nominalized based on disturbance observer in order to become robust for inner state of MR fluid and to be regarded as an active actuator. By experiments, the validity of the proposed method is verified.

Original languageEnglish
Title of host publication2013 IEEE International Conference on Mechatronics, ICM 2013
Pages495-500
Number of pages6
DOIs
Publication statusPublished - 2013
Event2013 IEEE International Conference on Mechatronics, ICM 2013 - Vicenza, Italy
Duration: 2013 Feb 272013 Mar 1

Other

Other2013 IEEE International Conference on Mechatronics, ICM 2013
CountryItaly
CityVicenza
Period13/2/2713/3/1

Fingerprint

Motion control
Robust control
Actuators
Fluids
Robots
Experiments

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering

Cite this

Miura, K., & Katsura, S. (2013). Robust motion control of MR-fluid actuator based on disturbance observer. In 2013 IEEE International Conference on Mechatronics, ICM 2013 (pp. 495-500). [6518586] https://doi.org/10.1109/ICMECH.2013.6518586

Robust motion control of MR-fluid actuator based on disturbance observer. / Miura, Kazumasa; Katsura, Seiichiro.

2013 IEEE International Conference on Mechatronics, ICM 2013. 2013. p. 495-500 6518586.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Miura, K & Katsura, S 2013, Robust motion control of MR-fluid actuator based on disturbance observer. in 2013 IEEE International Conference on Mechatronics, ICM 2013., 6518586, pp. 495-500, 2013 IEEE International Conference on Mechatronics, ICM 2013, Vicenza, Italy, 13/2/27. https://doi.org/10.1109/ICMECH.2013.6518586
Miura K, Katsura S. Robust motion control of MR-fluid actuator based on disturbance observer. In 2013 IEEE International Conference on Mechatronics, ICM 2013. 2013. p. 495-500. 6518586 https://doi.org/10.1109/ICMECH.2013.6518586
Miura, Kazumasa ; Katsura, Seiichiro. / Robust motion control of MR-fluid actuator based on disturbance observer. 2013 IEEE International Conference on Mechatronics, ICM 2013. 2013. pp. 495-500
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