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F
A
F
B
A
BB
A
C
C
F
A
F
B
Gravity load : f
g
f
g
f
g
f
g
f
g
C
C
A side
B side
B side
A side
F
A
F
B
A
BB
A
C
C
F
A
F
B
Gravity load : f
g
f
g
f
g
f
g
f
g
C
C
A side
B side
B side
A side
(a) Bending motion. (b) Torsion motion.
Figure 15: The force caused in bevel gear C.
On the basis of these results, we conclude that
regardless of the presence of load, the DOB control
is more effective than PI control in reducing the
interference in unintended directions.
6 CONCLUSIONS
We adopted the DOB in the control system of a 2-
DOF manipulator with straight-fiber-type artificial
muscles and a differential gear mechanism.
Experimental results show that regardless of the
presence of load, the DOB control method performs
better that the PI control in reducing the interference
in unintended directions. Hence, we prove the
effectiveness of our proposed DOB control method.
In the future, we apply the DOB control to a
manipulator with multiple degrees of freedom and
show that the interference is reduced even if the
weight of the manipulator gains by increasing the
degree of freedom.
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DynamicCharacteristicsControlof2-DOFManipulatorwithArtificialMusclesandDifferentialGearusingDisturbance
Observer
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