Luong et al., 2022 - Google Patents
Impedance control of antagonistically driven SMA springsLuong et al., 2022
View PDF- Document ID
- 11576367937704033267
- Author
- Luong T
- Park C
- Doh M
- Ha Y
- Moon H
- Publication year
- Publication venue
- 2022 19th International Conference on Ubiquitous Robots (UR)
External Links
Snippet
This paper presents impedance control of an antagonistic joint driven by SMA spring actuators. Based on the constitutive model of the SMA spring, the controller is designed to control the antagonistic joint angle as well as to achieve the desired joint damping and …
- 229920000147 Styrene maleic anhydride 0 title abstract 3
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING ENGINES OR PUMPS
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING WEIGHT AND MISCELLANEOUS MOTORS; PRODUCING MECHANICAL POWER; OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03G—SPRING, WEIGHT, INERTIA OR LIKE MOTORS; MECHANICAL-POWER PRODUCING DEVICES OR MECHANISMS, NOT OTHERWISE PROVIDED FOR OR USING ENERGY SOURCES NOT OTHERWISE PROVIDED FOR
- F03G7/00—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for
- F03G7/06—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for using expansion or contraction of bodies due to heating, cooling, moistening, drying or the like
- F03G7/065—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for using expansion or contraction of bodies due to heating, cooling, moistening, drying or the like using a shape memory element
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