Robust PID Force Control of Ionic Polymer Actuators
نویسندگان
چکیده
منابع مشابه
Robust Force Control of Series Elastic Actuators
Force-controlled series elastic actuators (SEA) are widely used in novel human-robot interaction (HRI) applications, such as assistive and rehabilitation robotics. These systems are characterized by the presence of the “human in the loop”, so that control response and stability depend on uncertain human dynamics, including reflexes and voluntary forces. This paper proposes a force control appro...
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Electroactive Polymers (EAPs) have a great potential to provide smart solutions to engineering problems in fields such as robotics, medical devices, power generation, actuators and sensors. This is because they yield some important characteristics that are advantageous over conventional types of actuators, like: lower weight, faster response, higher power density and quieter operation. Controll...
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Migration of ions under electric field is the phenomenon behind the mechanical deformation of ionic polymer actuators. This transport process is influenced by numerous factors depending on the physical, chemical and electrical properties of the material used [1]. Among them porosity and tortuosity are one of the main influencing factors that modifies ion channels and so the properties of the ma...
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Ionic electromechanically active polymers (IEAP) are laminar composites that can be considered attractive candidates for soft actuators. Their outstanding properties such as low operating voltage, easy miniaturization, and noiseless operation are, however, marred by issues related to the repeatability in the production and operation of these materials. Implementing closed-loop control for IEAP ...
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Abstract. This paper deals with robust H∞ force and impedance control of series elastic actuators. It is considered that the series elastic actuators are subject to parametric uncertainties and external disturbances. Robust controllers based on the H∞ criterion have been widely used among robotic applications for guaranteeing good disturbance rejection properties. The H∞ force and impedance con...
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ژورنال
عنوان ژورنال: TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
سال: 2012
ISSN: 0387-5024,1884-8354
DOI: 10.1299/kikaic.78.82