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Predictive Functional Control System for Stroke Control of a Pneumatic Tendon-driven Balloon Actuator

  • Jun-ya Nagase
  • Toshiyuki Satoh
  • Norihiko Saga
  • Koichi Suzumori
Part of the CISM International Centre for Mechanical Sciences book series (CISM, volume 544)

Abstract

In recent years, Japanese society has been aging, engendering a labor shortage of young workers. Robots are therefore expected to be useful to perform tasks such as day-to-day work support for elderly people. Consequently, a tendon-driven balloon actuator has been developed for a robot hand in such environments. This study evaluated stroke control characteristics of a balloon actuator using a predictive functional control (PFC) system. Predictive functional control, a model based on predictive control (MPC) schemes, predicts the future outputs of the actual plant over the prediction horizon and computes the control effort over the control horizon at every sampling instance. Herein, PFC control performance of a one-link finger using a pneumatic balloon actuator is reported.

Keywords

Joint Angle Reference Trajectory Coincidence Point Robot Hand Tension Spring 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Bibliography

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Copyright information

© CISM, Udine 2013

Authors and Affiliations

  • Jun-ya Nagase
    • 1
  • Toshiyuki Satoh
    • 2
  • Norihiko Saga
    • 3
  • Koichi Suzumori
    • 4
  1. 1.Department of Mechanical and Systems EngineeringRyukoku UniversityShigaJapan
  2. 2.Faculty of Systems Science and TechnologyAkita Prefectural UniversityAkitaJapan
  3. 3.Department of Human System InteractionKwansei Gakuin UniversityHyogoJapan
  4. 4.Division of Manufacturing System and Physical ScienceOkayama UniversityOkayamaJapan

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