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CONTROL APPARATUS, CONTROL METHOD, AND CONTROL PROGRAM FOR PNEUMATIC ARTIFICIAL MUSCLE DRIVE MECHANISM
CONTROL APPARATUS, CONTROL METHOD, AND CONTROL PROGRAM FOR PNEUMATIC ARTIFICIAL MUSCLE DRIVE MECHANISM
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机译:气动人工肌肉驱动机制的控制装置,控制方法和控制程序
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摘要
There is provided a control apparatus for a drive mechanism driven by a pneumatic artificial muscle, the control apparatus including a pressure controller that controls pressure of the pneumatic artificial muscle, a desired pressure calculator that calculates, based on a pneumatic artificial muscle model, a desired pressure of the pneumatic artificial muscle in order to control motion of the drive mechanism, a pneumatic artificial muscle model error estimator that estimates aging variation in a contraction percentage error between the pneumatic artificial muscle and the pneumatic artificial muscle model, a pneumatic artificial muscle model updater that updates the pneumatic artificial muscle model so as to reflect the aging variation based on an estimation result of the pneumatic artificial muscle model error estimator, and a lifetime predictor that predicts a lifetime of the pneumatic artificial muscle based on the estimation result of the pneumatic artificial muscle model error estimator.
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