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一种人工肌肉多自由度操作的形状控制方法和成形过程。通过控制算法和控制电路，实现了人工肌肉的形成技术和机械手的动态响应控制。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弯曲运动响应效率的提高。通过研究，结合前人研究开发的视觉反馈技术，实现了高精度的位置控制。在研究期间，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，验证了控制方法，并进一步控制了实际机械臂系统的前级电压。为了实现控制电路的小型化，设计了三相移相电路，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，我们发现了模型中关于电阻抗变化的变化。此外，还测量了实际的弯曲形状。通过与实验结果的比较，验证了参数识别的有效性。为了实现对弯曲的自由控制，作为机械手，我们认为对控制方法的研究应该建立在我们最新模型的基础上。

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.