Control of Ionic Polymer Metal Composites
نویسندگان
چکیده
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).
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