Teh, Yee Harn; Featherstone, Roy
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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