Control of ionic polymer metal composites

被引：81

作者：

Richardson, RC ^{[1
]}

Levesley, MC

Brown, MD

Hawkes, JA

Watterson, K

Walker, PG

机构：

[1] Univ Manchester, Dept Comp Sci, Artificial Intelligence Grp, Manchester M13 9PL, Lancs, England

[2] Univ Leeds, Sch Mech Engn, Leeds LS2 9JT, W Yorkshire, England

[3] WS Atkins Consultants Ltd, Bristol BS32 4SD, Avon, England

[4] Univ Leeds, Dept Color Chem, Leeds LS2 9JT, W Yorkshire, England

[5] Gen Infirm, Yorkshire Heart Ctr, Leeds LS1 3EX, W Yorkshire, England

来源：

IEEE-ASME TRANSACTIONS ON MECHATRONICS | 2003年 / 8卷 / 02期

关键词：

actuator; EAP; force control; ionic polymer metal composites (IPMCs); impedance control; proportional; integral; and derivative (PID); position control;

D O I：

10.1109/TMECH.2003.812835

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Robotic devices are traditionally actuated by hydraulic systems or electric, motors. However, with the desire to make robotic systems more compact and versatile, new actuator technologies are required. In this paper, the control of ionic polymer metal composite actuators is investigated from a practical perspective. The actuator characteristics are examined though the unblocked maximum displacement and blocked force output. Open-loop position control then closed-loop position proportional, integral, and derivative (PID) control is then applied to a strip of actuators. Finally, the performance of the polymer is investigated when implementing an impedance controller (force/position control).

引用

页码：245 / 253

页数：9

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