SAC (Simple Adaptive Control) with PID and Adaptive Disturbance Compensation for Actuator Composed of Artificial Rubber Muscles

• Published in: Nihon Kikai Gakkai ronbunshū. C Vol. 63; no. 605; pp. 166 - 173
• Main Authors: IWAI, Zenta, OHTOMO, Atushi, NAGATA, Masanobu, UCHIDA, Hiroya, KOMERA, Yutaka
• Format: Journal Article
• Language: Japanese
• Published: The Japan Society of Mechanical Engineers 01.01.1997
• Subjects: Actuator; Actuators; Adaptive Control; Algorithms; Degrees of freedom (mechanics); Mechatronics and Robotics; Positioning; Robots; Rubber applications; Rubber Artificial Muscle; Servo Mechanism; Servomechanisms; Simple Adaptive Control; Springs (components); Three term control systems
• ISSN: 0387-5024; 1884-8354
• DOI: 10.1299/kikaic.63.166

Robot for use in welfare or agriculture should be light in weight and have redundancy of freedoms. A rubber artificial muscle (Rubbertuator) is an actuator with the above properties. We propose a two-degree-of-freedom artificial rubber actuator. The proposed actuator is composed of two types of actuator: two Rubbertuators (R-R type) which move a joint antagonistically, and a combination of a Rubbertuator and a spring (R-S type) which also moves antagonistically. The effectiveness of the control algorithm is examined using on R-R type or R-S type actuator. To determine the basic characteristics of the above state actuators, experiments were executed (for R-R type and R-S type). SAC with a PID compensated algorithm and that with an adaptive disturbance compensated algorithm were applied to the state actuators and several evaluations were made based on the experiment results.