| 摘要 |
Provided is a control method for a contraction-type gel actuator that can control an action of the contraction-type gel actuator with high accuracy and can be used for position control or the like. The method for controlling a displacement in the thickness direction of the contraction-type gel actuator (10) having an effect of contraction in the thickness direction by applying a voltage between an anode (14) and a cathode (12) between which a gel (13a or 13b) which comprises a dielectric polymeric material is interposed, which comprises a step of performing a feedback control of an applied voltage (E), with a sampled value of a displacement (x) when the applied voltage (E) is made to act on the contraction-type gel actuator (10), on the basis of the following equation (1):
in the equation:
xd represents a target displacement of the contraction-type gel actuator;
Ed represents an applied voltage with respect to the target displacement xd obtained by the linear approximation of the applied voltage and the displacement from a measured result of the displacement in accordance with the applied voltage of the contraction-type gel actuator; and
kp represents a proportional gain. |
