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An Architecture for Fast and Accurate Control of Shape Memory Alloy Actuators
2008
The international journal of robotics research
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
doi:10.1177/0278364908090951
fatcat:hsprgeinvregdlfxg6qfpsxtie