Dynamic Model and Control of an Artificial Muscle Based on Contractile Polymers
| dc.date.accessioned | 2004-10-08T20:28:58Z | |
| dc.date.accessioned | 2018-11-24T10:15:21Z | |
| dc.date.available | 2004-10-08T20:28:58Z | |
| dc.date.available | 2018-11-24T10:15:21Z | |
| dc.date.issued | 1991-11-01 | en_US |
| dc.identifier.uri | http://hdl.handle.net/1721.1/6581 | |
| dc.identifier.uri | http://repository.aust.edu.ng/xmlui/handle/1721.1/6581 | |
| dc.description.abstract | A dynamic model and control system of an artificial muscle is presented. The artificial muscle is based on a contractile polymer gel which undergoes abrupt volume changes in response to variations in external conditions. The device uses an acid-base reaction to directly convert chemical to mechanical energy. A nonlinear sliding mode control system is proposed to track desired joint trajectories of a single link controlled by two antagonist muscles. Both the model and controller were implemented and produced acceptable tracking performance at 2Hz. | en_US |
| dc.format.extent | 264681 bytes | |
| dc.format.extent | 409894 bytes | |
| dc.language.iso | en_US | |
| dc.title | Dynamic Model and Control of an Artificial Muscle Based on Contractile Polymers | en_US |
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