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An Architecture for Fast and Accurate Control of Shape Memory Alloy Actuators

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]

CollectionsANU Research Publications
Date published: 2008
Type: Journal article
Source: International Journal of Robotics Research
DOI: 10.1177/0278364908090951


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