Accurate Force Control and Motion Disturbances Rejection for Shape Memory Alloy Actuators
This paper presents simulation and experimental results for closed-loop force control of single-wire Shape Memory Alloy (SMA) actuators. The simulation uses a model derived from the frequency response analysis of SMA. Although the large-scale response has hysteresis and nonlinearities, small-signal frequency response analysis is possible on SMA wires, with detectable force response at frequencies up to 100 Hz. The model has been demonstrated to accurately predict closed-loop behaviour. A high...[Show more]
|Collections||ANU Research Publications|
|Source:||Proceedings of ICRA '07|
|01_Teh_Accurate_Force_Control_and_2007.pdf||158.21 kB||Adobe PDF||Request a copy|
|02_Teh_Accurate_Force_Control_and_2007.pdf||499.68 kB||Adobe PDF||Request a copy|
|03_Teh_Accurate_Force_Control_and_2007.pdf||776.17 kB||Adobe PDF||Request a copy|
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