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发明公开
CN101310940A 弹性体驱动器驱动型可动机构的控制装置及控制方法 失效 - 权利终止

弹性体驱动器驱动型可动机构的控制装置及控制方法
摘要：
本发明提供弹性体驱动器的控制装置及控制方法。利用压力计测装置(9)计测流体压力驱动器的内部压力，计测可动机构的位移量，输入位移的目标值和计测值而利用位置误差补偿装置(12)补偿位置误差，根据目标值利用目标压力差计算装置(14)计算被对抗驱动的驱动器的压力差的目标值，输入来自位置误差补偿装置、目标压力差计算装置和压力计测装置的各输出，而利用压力差误差补偿装置(15)来补偿压力差误差。
摘要（英）：

The invention provides a control device and a control method for an elastomer actuator. An internal pressure of a fluid pressure actuator is measured by a pressure measurement device (9), a displacement amount of a movable mechanism is measured, a desired value and a measurement value of the displacement are input so that a position error is compensated by a position error compensation device (12), a desired value of a pressure difference of the actuator to which antagonistic driving is performed is calculated by a desired pressure difference calculation device (14) according to the desired value, outputs from the position error compensation device, the desired pressure difference calculation device, and the pressure measurement device are input, and a pressure difference error is compensated by a pressure difference error compensation device (15).

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