An Architecture for Fast and Accurate Control of Shape Memory Alloy Actuators
This paper presents a new control architecture for fast, accurate force control of antagonistic pairs of shape memory alloy wires. The main components are: a differential-mode controller which controls the output force, an anti-slack mechanism, a rapid-heating mechanism and an anti-overload mechanism. The closed-loop response is fast and accurate, even in the presence of large external motion disturbances. There is no sign of limit cycles, and the performance is unaffected by large load...[Show more]
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|Source:||International Journal of Robotics Research|
|01_Teh_An_Architecture_for_Fast_and_2008.pdf||1.3 MB||Adobe PDF||Request a copy|
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