Trajectory Tracking Controls for a Two-Link Manipulator with Artificial Rubber Muscles

Sangho Jin, Keigo Watanabe, Masatoshi Nakamura

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)


Trajectory tracking control problems are described for a two-link robot manipulator with artificial rubber muscle actuators. Under the assumption that the so-called independent joint control is applied to the control system, the dynamic model for each link is identified as a linear second-order system with time lag by the step response. Tow control laws, the computed torque and optimal servo control methods, are designed and experimentally applied to the actual robot manipulator. The effectiveness of the proposed control method for the robot manipulator is illustrated through simulations and experiments.

Original languageEnglish
Pages (from-to)2745-2752
Number of pages8
Journaltransactions of the japan society of mechanical engineers series c
Issue number565
Publication statusPublished - 1993
Externally publishedYes


  • Artificial Rubber Muscle
  • Computed Torque Control
  • Manipulator
  • Mechatronics and Robotics
  • Oil and Air Hydraulics
  • Optimal Control
  • Optimal Servo Control
  • Trajectory Tracking Control

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering


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