Force control of ionic polymer-metal composite actuators with carbon-based electrodes

摘要: To perform tasks such as hold an object with a constant force, the reliable control of ionic electroactive polymer actuator is essential. The composite under research IPMC actuator electrodes composed nanoporous carbon and membrane made polymer. Compared to traditional platinum electrodes, these novel do not crack in clusters and have highly controllable properties which preserve even when deformed. So far, there are no reports on dynamic force response this composite. We present first attempts testing dynamics of carbon open- closed-loop controls. As many been focused sensorless polymers, we investigate uncompensated actuator, then use direct inverse model obtain desired tracking performance. also aim identify the conditions, suitable for control. Furthermore, improve ability of the using feedback controller where sensor data available incorporate feedforward controller into system. Based experiments, resulting effects performance are observed.