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Accurate Force Control and Motion Disturbances Rejection for Shape Memory Alloy Actuators

Teh, Yee Harn; Featherstone, Roy

Description

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]

CollectionsANU Research Publications
Date published: 2007
Type: Conference paper
URI: http://hdl.handle.net/1885/25371
Source: Proceedings of ICRA '07
DOI: 10.1109/ROBOT.2007.364165

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