Research for Control and Processing of Multi-Degree-of Freedom Manipulator Made Out of an Artificial Muscle

本研究的目的是发展人工肌肉多自由度机械手的形状控制方法与成形过程。我们的目标是实现人工肌肉的形成技术和控制算法和控制电路的机械手的动态响应的控制。为此，我们实现了（1）对IPMC弯曲运动的完全控制，提高了材料的强度和稳定性;（2）建立了响应的动力学模型，采用了新的控制算法，引入了新的控制驱动系统，保证了IPMC弯曲运动响应效率的提高。在研究过程中，我们利用分布参数系统模型实现了IPMC弯曲形状的仿真，考虑了控制电路的设计，研究了控制方法，并进一步研究了控制电压水平，其是实际机械手系统的前级。为了使控制电路小型化，设计了三相移相电路，使系统模块化。另外，还对基于分布常数体系的IPMC电阻抗模型和测量结果进行了评价。此外，当使用不同的离子时，我们发现模型关于电阻抗变化的变化。并对实际弯曲形状进行了测量。通过与实验结果的对比，验证了参数辨识的有效性。为了自由地控制弯曲，在未来，作为机械手，我们认为有关控制方法的研究应该建立在我们的最新模型的基础上。

The goal of this research is to develop shape control method and shaping process of the multi-degree-of-freedom manipulations made out of an artificial muscle. We aim to realize formation technology of an artificial muscle and the control of dynamic responses of the manipulator with control algorithm and a control circuit. For this aim, we realize (1) complete control of bending motion of an IPMC and increase forth, strength and stability of the material, and (2) develop dynamic model of the response, apply novel control algorithm and introduce new control drive system, assures the response efficiency improvement of the IPMC bending motion. By the research, high accuracy of position control becomes possible combining with the visual feedback technology which is already developed by our previous research.During the research period, we realized simulation of the bending form of the IPMC using the distributed parameter system model, considered the design of the control circuit, examined the control method and furthermore controlled voltage level, which is the front stage of the actual manipulator system. To miniaturize the control circuit, the phase shifting circuit made of 3 phase have been developed for system modularization. In addition the appraisal which is based on the model and measurement result which uses distribution constant system concerning the electric impedance of IPMC. Furthermore, when using the ion which differs, we find the change of the model concerning the change of electric impedance. Furthermore actual bending form was measured. Effectiveness was verified for parameter identification by comparison with the result of experiments. In order to control bending freely, in the future, as the manipulator, we think research concerning the control method should be constructed based on our latest model.