An experimental study of force control of an IPMC actuated two-link manipulator using time-delay control
- Authors
- Kim, Min Hyeok; Kim, Kwan Young; Lee, Joon Hwan; Jho, Jae Young; Kim, Dong Min; Rhee, Kyehan; Lee, Soo Jin
- Issue Date
- Nov-2016
- Publisher
- IOP PUBLISHING LTD
- Keywords
- ionic polymer metal composite; robust force control; two-link manipulator
- Citation
- SMART MATERIALS AND STRUCTURES, v.25, no.11
- Journal Title
- SMART MATERIALS AND STRUCTURES
- Volume
- 25
- Number
- 11
- URI
- https://scholarworks.bwise.kr/hongik/handle/2020.sw.hongik/7196
- DOI
- 10.1088/0964-1726/25/11/117001
- ISSN
- 0964-1726
- Abstract
- This study focuses on the force control of an ionic polymer metal composite (IPMC) actuator and a two-link manipulator actuated by the IPMC. As a polymer actuator that transforms electric energy into mechanical energy, IPMC has been applied to various mechanical devices. The time-varying property of IPMC makes it difficult to control the tip force of an IPMC actuator with a strip form, which requires a force control scheme with considerable robustness. In this study, time-delay control (TDC), which has shown exceptional robustness in various control systems, was applied to the force control of an IPMC actuator and a two-link manipulator actuated by IPMC strips. The experiments demonstrated that TDC could control the tip force of an IPMC strip so that, in spite of its time-varying characteristics, it closely follows the designed reference force with exceptional robustness. Moreover, the contact force of a two-link manipulator actuated by IPMC strips could be successfully controlled with the TDC law including the kinematic relation of the manipulator.
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Collections - College of Science and Technology > Department of Electronic and Electrical Engineering > 1. Journal Articles
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