| Popis: |
An artificial rubber muscle was paid to attention as an actuator in the present study because human was safe for the manipulator to have come in contact with human. However, this actuator occurs easily the vibration, and is late the response because of applying the air pressure. Then, the MR brake that uses the MR fluid with an early response is built into the joint, and controls the vibration. In this paper, we have grasped a manipulator's dynamic characteristics by construction of a model for improvement in the control performance of MR brake. Furthermore, the simulation was performed using the model and efficient breaking of MR brake was examined. |
