FUZZY CONTROL FOR A ROBOT MANIPULATOR WITH ARTIFICIAL RUBBER MUSCLES

摘要

Artificial rubber muscles were controlled by fuzzy reasoning. Based on measurement of characteristics of artificial rubber muscles, the authors designed fuzzy set, fuzzy rule, and reasoning method in fuzzy reasoning. Firstly, they controlled displacement of an artificial rubber muscle by air pressure under tensile load. Secondly, they made a one-link arm robot manipulator that had push-pull mechanism composed of two artificial rubber muscles. They succeeded in controlling the arm angle of the manipulator with fuzzy reasoning.