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An experimental study of force control of an IPMC actuated two-link manipulator using time-delay control
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Kim, Min Hyeok | - |
dc.contributor.author | Kim, Kwan Young | - |
dc.contributor.author | Lee, Joon Hwan | - |
dc.contributor.author | Jho, Jae Young | - |
dc.contributor.author | Kim, Dong Min | - |
dc.contributor.author | Rhee, Kyehan | - |
dc.contributor.author | Lee, Soo Jin | - |
dc.date.accessioned | 2023-12-11T06:36:26Z | - |
dc.date.available | 2023-12-11T06:36:26Z | - |
dc.date.created | 2018-09-04 | - |
dc.date.issued | 2016-11 | - |
dc.identifier.citation | Smart Materials and Structures, Vol.25 No.11, p. 117001 | - |
dc.identifier.issn | 0964-1726 | - |
dc.identifier.uri | https://hdl.handle.net/10371/198390 | - |
dc.description.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. | - |
dc.language | 영어 | - |
dc.publisher | Institute of Physics Publishing | - |
dc.title | An experimental study of force control of an IPMC actuated two-link manipulator using time-delay control | - |
dc.type | Article | - |
dc.identifier.doi | 10.1088/0964-1726/25/11/117001 | - |
dc.citation.journaltitle | Smart Materials and Structures | - |
dc.identifier.wosid | 000387033600001 | - |
dc.identifier.scopusid | 2-s2.0-84993967372 | - |
dc.citation.number | 11 | - |
dc.citation.startpage | 117001 | - |
dc.citation.volume | 25 | - |
dc.description.isOpenAccess | N | - |
dc.contributor.affiliatedAuthor | Jho, Jae Young | - |
dc.type.docType | Article | - |
dc.description.journalClass | 1 | - |
dc.subject.keywordPlus | POLYMER-METAL COMPOSITES | - |
dc.subject.keywordPlus | QUANTITATIVE FEEDBACK THEORY | - |
dc.subject.keywordPlus | INPUT-OUTPUT LINEARIZATION | - |
dc.subject.keywordPlus | POSITION CONTROL | - |
dc.subject.keywordPlus | MODEL | - |
dc.subject.keywordAuthor | ionic polymer metal composite | - |
dc.subject.keywordAuthor | robust force control | - |
dc.subject.keywordAuthor | two-link manipulator | - |
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