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

Kazumasa Miura, Seiichiro Katsura

研究成果: Conference contribution

3 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2013 IEEE International Conference on Mechatronics, ICM 2013
ページ495-500
ページ数6
DOI
出版ステータスPublished - 2013 7 1
イベント2013 IEEE International Conference on Mechatronics, ICM 2013 - Vicenza, Italy
継続期間: 2013 2 272013 3 1

出版物シリーズ

名前2013 IEEE International Conference on Mechatronics, ICM 2013

Other

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

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 機械工学

フィンガープリント

「Robust motion control of MR-fluid actuator based on disturbance observer」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル