한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)
- 제12권1호
- /
- Pages.97-103
- /
- 1995
- /
- 1225-9071(pISSN)
- /
- 2287-8769(eISSN)
고무인공근 로보트 매니퓨레이터의 위치 및 힘 제어에 관한 연구
A Study on Position and Force Control of A Robot Manipulator with Artificial Rubber Muscle
- 진상호 (좌하대학교 기계공학과) ;
- 게이고 와타나베 (좌하대학교 기계공학과) ;
- 이석규 (영남대학교 전기공학과)
- Jin, Sang-Ho ;
- Watanabe, Keigo ;
- Lee, Suck-Gyu
- 발행 : 1995.01.01
초록
This paper describes position and force hybrid control for a robot manipulator with artificial rubber muscle actuators. The controller using two control laws such as PID control and fuzzy logic control methods is designed. This paper concludes to show the effectiveness of the proposed controller by some experiments for a two-link manipulator.