control system of pneumatic artificial muscles drive mechanism, control method, and control program

摘要

Met at the control device of drive mechanism which is driven by pneumatic artificial muscle (101) Te, pneumatic artificial muscles (6a, 6b) and a pressure control means for controlling the pressure (203), the pneumatic artificial muscle model the pneumatic artificial muscles of the target pressure (Pd) for controlling the motion of the drive mechanism Based on a calculation to target pressure calculation means (104), and the pneumatic artificial muscle model error estimation means for estimating the time-dependent changes in the shrinkage error of the pneumatic artificial muscles and the pneumatic artificial muscle model (103), pneumatic artificial a muscular model error estimation means pneumatic artificial muscle model updating means for updating the pneumatic artificial muscle model to reflect the change over time based on the result of the estimated (106), the result of pneumatic artificial muscle model error estimation means has estimated It equipped with a pneumatic life prediction means (108) for predicting the life of the artificial muscle and based.