Force tracking control of a flexible gripper featuring shape memory alloy actuators

Choi, Seung–Bok; Han, Young‐Min; Kim, Jaehwan; Cheong, C.C.

doi:10.1016/s0957-4158(00)00034-9

Cited by 69 publications

(35 citation statements)

References 10 publications

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“…Choi et al (2001) also investigated the force control of an SMA-actuated flexible gripper based on H ∞ -controllers, but the resulting speed and accuracy of response were not impressive. Zhong and Yeong (2006) experimented with SMA wire-actuated grippers for miniature applications.…”

Section: Introductionmentioning

confidence: 99%

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

Teh

Featherstone

2008

The International Journal of Robotics Research

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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 inertias. This paper also presents an architecture for position control, in which a position feedback loop is added to the force control architecture. Experimental results show force control accuracies as high as 1 mN in a ±3 N range, force output rates as high as 50 Ns −1 , and highly accurate position control with steady-state errors below the resolution of the position encoder.

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Section: Introductionmentioning

confidence: 99%

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

Teh

Featherstone

2008

The International Journal of Robotics Research

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“…For example, shape memory alloys show impressive actuation characteristics, while suffer from slow response and motion constraints [40]. Other interesting compliant actuators include artificial muscle actuator using fluid [41], polymer materials [42], dielectric elastomers [43], etc.…”

Section: Compliant Actuators In Jointsmentioning

confidence: 99%

Segmented Foot with Compliant Actuators and Its Applications to Lower-Limb Prostheses and Exoskeletons

Wang¹,

Zhu²,

Huang³

et al. 2012

Smart Actuation and Sensing Systems - Recent Advances and Future Challenges

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“…In general, only a few different control algorithms have been investigated for SMA actuators ranging from proportional-integral (PI) control (Majima, Kodama, and Hasegawa, 2001), the H-infinity control (Choi, Han, and Cheong, 2001), and the variable structure control (Grant and Hayward, 1997). In this paper, a nonlinear sliding-mode controller based on a smooth robust controller is used.…”

Section: Feedback Control Designmentioning

confidence: 99%