利用变结构系统理论实现人工肌肉的夹持力控制

GRASPING FORCE CONTROL OF RUBBER MUSCLE SYSTEM USING VSS THEORY

摘要: 本文推导了人工肌肉系统的数学模型．探讨了用变结构系统理论实现人工肌肉的夹持力的控制方法，给出了仿真和实验结果．人工肌肉既可以输出力（力矩），又可以调节刚性，是一种在柔顺运动控制中很有应用前途的新型作动器．

Abstract: In this paper a mathematical model of rubber muscle is expounded. Method of grasping force control of rubber muscle using VSS theory is discussed. The rubber muscle is able to not only output force but also regulatestiffness. It is a new type of actuator with good prospects.