Nonlinear force control of dielectric electroactive polymer actuators

摘要

Electroactive Polymers (EAPs) have a great potential to provide smart solutions to engineering problems in fields such as robotics, medical devices, power generation, actuators and sensors. This is because they yield some important characteristics that are advantageous over conventional types of actuators, like: lower weight, faster response, higher power density and quieter operation. Controlling the amount of force exerted during an interaction between an actuator and an object is crucial for certain applications, such as those involving a human and an actuator. To date there is little research into the force control of EAPs or their possible applications that utilize force control. This paper presents a realtime nonlinear force controller for a Rolled type Dielectric Electroactive Polymer Actuator (DEA). To increase the response of the actuator, a control algorithm and an inverse model were derived using the actuator's nonlinear behavior. The force controller presented can enhance the safety and performance of this unique family of actuators, allowing for more advanced and efficient applications.