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

本研究的目的是开发由人造肌肉构成的多自由度操纵的形状控制方法和成形过程。我们的目标是通过控制算法和控制电路实现人工肌肉的形成技术和机械臂的动态响应控制。为此，我们实现了(1)对IPMC弯曲运动的完全控制，提高了材料的刚度、强度和稳定性；(2)建立了响应的动力学模型，应用了新的控制算法，引入了新的控制驱动系统，保证了IPMC弯曲运动的响应效率提高。通过本文的研究，使高精度的位置控制与已有的视觉反馈技术相结合成为可能。在研究过程中，利用分布参数系统模型实现了IPMC弯曲形式的仿真，考虑了控制电路的设计，研究了控制方法，并进一步控制了实际机械手系统的前端阶段电压电平。为了使控制电路小型化，开发了三相移相电路，实现了系统的模块化。此外，还对IPMC的电阻抗进行了基于模型和采用分布常数系统的测量结果的评价。此外，当使用不同的离子时，我们发现关于电阻抗变化的模型发生了变化。并对实际弯曲形式进行了测量。通过与实验结果的比较，验证了参数辨识的有效性。为了实现自由弯曲的控制，今后作为机械臂，我们认为应该基于我们最新的模型来构建控制方法的研究。

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.