A novel adaptive force control method for IPMC manipulation
A novel adaptive force control method for IPMC manipulation
复制标题
一种用于 IPMC 操纵的新型自适应力控制方法
DOI：
10.1088/0964-1726/21/7/075016
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发表时间：
2012-07
影响因子：
4.1
通讯作者：
Jianchao Gao
中科院分区：
文献类型：
--
作者：
Lina Hao;Zhiyong Sun;Zhi Li;Yunquan Su;Jianchao Gao
IPMC是一种电活性高分子材料，又称人造肌肉，在较低的输入电压（一般小于5 V）下可产生较大的变形，可在水环境中实现。由于这些优点，IPMC可以应用于许多领域，如仿生学，服务机器人，生物操作等。到目前为止，大多数现有的IPMC操作方法都是位移控制而不是直接的力控制，然而在大多数情况下，对于微小易碎物体的操作成功率受到接触力的限制，例如使用IPMC夹持器固定细胞。与大多数eap一样，IPMC存在蠕变现象，其产生的力会随时间变化，蠕变模型会受到含水量变化或其他环境因素的影响，因此迫切需要合适的力控制方法。本文提出了一种基于蠕变模型的自适应力控制方法（AIPOF控制-自适应积分周期输出反馈控制），该模型的参数由FRLS在线辨识方法获得。AIPOF控制方法可以实现任意极点配置，只要对象是可控的和可观察的。本文还设计了POF和IPOF控制器，并对两者的测试结果进行了比较。进行了微力跟踪试验的仿真和实验，结果验证了所提控制方法的可行性。
IPMC is a type of electro-active polymer material, also called artificial muscle, which can generate a relatively large deformation under a relatively low input voltage (generally speaking, less than 5 V), and can be implemented in a water environment. Due to these advantages, IPMC can be used in many fields such as biomimetics, service robots, bio-manipulation, etc. Until now, most existing methods for IPMC manipulation are displacement control not directly force control, however, under most conditions, the success rate of manipulations for tiny fragile objects is limited by the contact force, such as using an IPMC gripper to fix cells. Like most EAPs, a creep phenomenon exists in IPMC, of which the generated force will change with time and the creep model will be influenced by the change of the water content or other environmental factors, so a proper force control method is urgently needed. This paper presents a novel adaptive force control method (AIPOF control—adaptive integral periodic output feedback control), based on employing a creep model of which parameters are obtained by using the FRLS on-line identification method. The AIPOF control method can achieve an arbitrary pole configuration as long as the plant is controllable and observable. This paper also designs the POF and IPOF controller to compare their test results. Simulation and experiments of micro-force-tracking tests are carried out, with results confirming that the proposed control method is viable.
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影响因子：
4.6
作者：
Kim, KJ;Shahinpoor, M
通讯作者：
Shahinpoor, M
DOI：
10.1109/aim.2005.1500966
发表时间：
2005-07
期刊：
--
影响因子：
--
作者：
Zheng Chen;Xiaobo Tan;M. Shahinpoor
通讯作者：
Zheng Chen;Xiaobo Tan;M. Shahinpoor
影响因子：
4.1
作者：
Chen, Zheng;Hedgepeth, Dawn Rochelle;Tan, Xiaobo
通讯作者：
Tan, Xiaobo
影响因子：
4.1
作者：
Chen, Zheng;Shen, Yantao;Tan, Xiaobo
通讯作者：
Tan, Xiaobo
影响因子：
4.6
作者：
Chen, Zheng;Tan, Xiaobo
通讯作者：
Tan, Xiaobo