System identification and microposition control of ionic polymer metal composite for three-finger gripper manipulation

Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering

Volumn 220, Issue 7, 2006, Pages 539-551

  Yun, Kwansoo ^a   Kim, Won Jong ^a,b  

^a TEXAS A AND M UNIVERSITY   (United States)

^b Department of Electrical and Computer Engineering   (United States)

Author keywords

Actuator; BJ model; Digital PID controller; IPMC; LQR; Position control; Sensor

Indexed keywords

BJ MODEL; BOX-JENKINS; CLOSED-LOOP RESPONSE; DIGITAL PID CONTROLLER; ELECTRO-ACTIVE POLYMERS; FINGER GRIPPERS; FREQUENCY RANGES; HUMAN HAND MOTIONS; IONIC POLYMER METAL COMPOSITES; IPMC; LINEAR MODEL; LQR; MATERIAL PROPERTY; MICROGRIPPER; MODEL-BASED CONTROL; POWER SPECTRAL; PRECISE MANIPULATION; RISETIME; ROBOTIC HANDS; SAMPLING FREQUENCIES; SETTLING TIME; SMART MATERIALS; SYSTEM IDENTIFICATIONS; VOLTAGE SIGNALS;

ACTUATORS; CONTROLLERS; ELECTRIC CONTROL EQUIPMENT; END EFFECTORS; FEEDBACK; GRIPPERS; IDENTIFICATION (CONTROL SYSTEMS); ORGANIC CONDUCTORS; POLYMERS; PROPORTIONAL CONTROL SYSTEMS; ROBOTIC ARMS; ROBOTICS; SENSORS; STOCHASTIC MODELS; THREE TERM CONTROL SYSTEMS; TWO TERM CONTROL SYSTEMS;

POSITION CONTROL;

EID: 66549124363     PISSN: 09596518     EISSN: None     Source Type: Journal    
DOI: 10.1243/09596518JSCE215     Document Type: Article

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