인공 고무 근육을 이용한 로보트 메니퓨레이터의 선형 궤도 추적 제어

Trajectory tracking controls for a robot manipulator with artificial muscles

Trajectory tracking control problems are described for a two-link robot manipulator with artificial rubber muscle actuators. Under the assumption that the so-called independent joint control is applied to the control system, the dynamic model for each link is identified as a linear second-order system with time-lag by the step response. Two control laws such as the feedforward and the computed torque control methods, are experimentally applied for controlling the circular trajectory of an actual robot manipulator.