Control of ionic polymer metal composites

Robert C. Richardson; Martin C. Levesley; Michael D. Brown; Jamie A. Hawkes; Kevin Watterson; Peter G. Walker

doi:10.1109/TMECH.2003.812835

Control of ionic polymer metal composites

Robert C. Richardson, Martin C. Levesley, Michael D. Brown, Jamie A. Hawkes, Kevin Watterson, Peter G. Walker

Research output: Contribution to journal › Article › peer-review

Abstract

Robotic devices are traditionally actuated by hydraulic systems or electric motors. However, with the desire to make robotic systems more compact and versatile, new actuator technologies are required. In this paper, the control of ionic polymer metal composite actuators is investigated from a practical perspective. The actuator characteristics are examined though the unblocked maximum displacement and blocked force output. Open-loop position control then closed-loop position proportional, integral, and derivative (PID) control is then applied to a strip of actuators. Finally, the performance of the polymer is investigated when implementing an impedance controller (force/position control).

Original language	English
Pages (from-to)	245-253
Number of pages	8
Journal	IEEE/ASME Transactions on Mechatronics
Volume	8
Issue number	2
DOIs	https://doi.org/10.1109/TMECH.2003.812835
Publication status	Published - Jun 2003

Keywords

Actuator
Derivative (PID)
EAP
Force control
Impedance control
Integral
Ionic polymer metal composites (IPMCs)
Position control
Proportional

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10.1109/TMECH.2003.812835

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title = "Control of ionic polymer metal composites",

abstract = "Robotic devices are traditionally actuated by hydraulic systems or electric motors. However, with the desire to make robotic systems more compact and versatile, new actuator technologies are required. In this paper, the control of ionic polymer metal composite actuators is investigated from a practical perspective. The actuator characteristics are examined though the unblocked maximum displacement and blocked force output. Open-loop position control then closed-loop position proportional, integral, and derivative (PID) control is then applied to a strip of actuators. Finally, the performance of the polymer is investigated when implementing an impedance controller (force/position control).",

keywords = "Actuator, Derivative (PID), EAP, Force control, Impedance control, Integral, Ionic polymer metal composites (IPMCs), Position control, Proportional",

author = "Richardson, {Robert C.} and Levesley, {Martin C.} and Brown, {Michael D.} and Hawkes, {Jamie A.} and Kevin Watterson and Walker, {Peter G.}",

year = "2003",

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language = "English",

volume = "8",

pages = "245--253",

journal = "IEEE/ASME Transactions on Mechatronics",

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TY - JOUR

T1 - Control of ionic polymer metal composites

AU - Richardson, Robert C.

AU - Levesley, Martin C.

AU - Brown, Michael D.

AU - Hawkes, Jamie A.

AU - Watterson, Kevin

AU - Walker, Peter G.

PY - 2003/6

Y1 - 2003/6

N2 - Robotic devices are traditionally actuated by hydraulic systems or electric motors. However, with the desire to make robotic systems more compact and versatile, new actuator technologies are required. In this paper, the control of ionic polymer metal composite actuators is investigated from a practical perspective. The actuator characteristics are examined though the unblocked maximum displacement and blocked force output. Open-loop position control then closed-loop position proportional, integral, and derivative (PID) control is then applied to a strip of actuators. Finally, the performance of the polymer is investigated when implementing an impedance controller (force/position control).

AB - Robotic devices are traditionally actuated by hydraulic systems or electric motors. However, with the desire to make robotic systems more compact and versatile, new actuator technologies are required. In this paper, the control of ionic polymer metal composite actuators is investigated from a practical perspective. The actuator characteristics are examined though the unblocked maximum displacement and blocked force output. Open-loop position control then closed-loop position proportional, integral, and derivative (PID) control is then applied to a strip of actuators. Finally, the performance of the polymer is investigated when implementing an impedance controller (force/position control).

KW - Actuator

KW - Derivative (PID)

KW - EAP

KW - Force control

KW - Impedance control

KW - Integral

KW - Ionic polymer metal composites (IPMCs)

KW - Position control

KW - Proportional

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DO - 10.1109/TMECH.2003.812835

M3 - Article

SN - 1941-014X

VL - 8

SP - 245

EP - 253

JO - IEEE/ASME Transactions on Mechatronics

JF - IEEE/ASME Transactions on Mechatronics

IS - 2

ER -

Control of ionic polymer metal composites

Abstract

Keywords

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