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See detailNonlinear Observation and Control of a Lightweight Robotic Manipulator Actuated by Shape Memory Alloy (SMA) Wires
Quintanar Guzman, Serket UL

Doctoral thesis (2019)

In the last decade, the industry of Unmanned Aerial Vehicles (UAV) has gone through immense growth and diversification. Nowadays, we find drone based applications in a wide range of industries, such as ... [more ▼]

In the last decade, the industry of Unmanned Aerial Vehicles (UAV) has gone through immense growth and diversification. Nowadays, we find drone based applications in a wide range of industries, such as infrastructure, agriculture, transport, among others. This phenomenon has generated an increasing interest in the field of aerial manipulation. The implementation of aerial manipulators in the UAV industry could generate a significant increase in possible applications. However, the restriction on the available payload is one of the main setbacks of this approach. The impossibility to equip UAVs with heavy dexterous industrial robotic arms has driven the interest in the development of lightweight manipulators suitable for these applications. In the pursuit of providing an alternative lightweight solution for the aerial manipulators, this thesis proposes a lightweight robotic arm actuated by Shape Memory Alloy (SMA) wires. Although SMA wires represent a great alternative to conventional actuators for lightweight applications, they also imply highly nonlinear dynamics, which makes them difficult to control. Seeking to present a solution for the challenging task of controlling SMA wires, this work investigates the implications and advantages of the implementation of state feedback control techniques. The final aim of this study is the experimental implementation of a state feedback control for position regulation of the proposed lightweight robotic arm. Firstly, a mathematical model based on a constitutive model of the SMA wire is developed and experimentally validated. This model describes the dynamics of the proposed lightweight robotic arm from a mechatronics perspective. The proposed robotic arm is tested with three output feedback controllers for angular position control, namely a PID, a Sliding Mode and an Adaptive Controller. The controllers are tested in a MATLAB simulation and finally implemented and experimentally tested in various different scenarios. Following, in order to perform the experimental implementation of a state feedback control technique, a state and unknown input observer is developed. First, a non-switching observable model with unknown input of the proposed robotic arm is derived from the model previously presented. This model takes the martensite fraction rate of the original model as an unknown input, making it possible to eliminate the switching terms in the model. Then, a state and unknown input observer is proposed. This observer is based on the Extended Kalman Filter (EKF) for state estimation and sliding mode approach for unknown input estimation. Sufficient conditions for stability and convergence are established. The observer is tested in a MATLAB simulation and experimentally validated in various different scenarios. Finally, a state feedback control technique is tested in simulation and experimentally implemented for angular position control of the proposed lightweight robotic arm. Specifically, continuous and discrete-time State-Dependent Riccati Equation (SDRE) control laws are derived and implemented. To conclude, a quantitative and qualitative comparative analysis between an output feedback control approach and the implemented state feedback control is carried out under multiple scenarios, including position regulation, position tracking and tracking with changing payloads. [less ▲]

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See detailExperimental validation of adaptive control for a Shape Memory Alloy actuated lightweight robotic arm
Quintanar Guzman, Serket UL; Kannan, Somasundar UL; Voos, Holger UL et al

in ASME 2018 Conferences on Smart Materials, Adaptive Structures and Intelligent Systems, San Antonio 10-12 September 2018 (2018, September)

This article presents the experimental validation of a Direct Adaptive Control for angular position regulation of a lightweight robotic arm. The robotic arm is single degree-of-freedom (DOF) system ... [more ▼]

This article presents the experimental validation of a Direct Adaptive Control for angular position regulation of a lightweight robotic arm. The robotic arm is single degree-of-freedom (DOF) system, actuated by two Shape Memory Alloy (SMA) wires. The proposed adaptive control is capable of adapting itself to the hysteretic behavior of SMA wires and update its behavior to deal with the changing parameters of the material over time. The closed-loop approach is tested experimentally showing its effectiveness to deal with the highly nonlinear dynamics of the SMA wires. These results are discussed and compared with a classical control approach. The updated design and hardware development and modeling of the robotic arm are shown. [less ▲]

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See detailAdaptive control for a lightweight robotic arm actuated by a Shape Memory Allow wire
Quintanar Guzman, Serket UL; Kannan, Somasundar UL; Voos, Holger UL et al

in 16th International Conference on New Actuators, Bremen 25-27 June 2018 (2018, June)

This paper presents the design, model and closed-loop control of a single degree-of-freedom (DOF) lightweight robotic arm actuated by a biased Shape Memory Alloy (SMA) wire. The highly non-linear dynamics ... [more ▼]

This paper presents the design, model and closed-loop control of a single degree-of-freedom (DOF) lightweight robotic arm actuated by a biased Shape Memory Alloy (SMA) wire. The highly non-linear dynamics of SMAs represent a challenge for control tasks, due to phenomena as hysteresis or parameters uncertainty. With this in mind, we propose a control capable to adapt itself to the hysteretic behavior and update its behavior to deal with the changing parameters of the material over time. An adaptive control for position regulation is presented. This control includes a set of techniques, providing a systematic way to adjust the control parameters in real time, so maintaining the stability of the system and a desired performance, while dealing with parameter and model uncertainties. The closed-loop approach is tested in experimentally showing its effectiveness to deal with the highly non-linear dynamics of the SMA wire. [less ▲]

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See detailDesign of an Electromechanical Prosthetic Finger using Shape Memory Alloy Wires
van der Elst, Louis UL; Quintanar Guzman, Serket UL; Hadji-Minaglou, Jean-Régis UL

in IEEE 5th International Symposium on Robotics and Intelligent Sensors, Ottawa, Canada, 5-7 October 2017 (2017, October)

This research concerns the design and prototyping of an artificial middle finger, using Shape Memory Alloys (SMAs), PolyLactic Acid (PLA), and other technologies. The design is a biomimicry of the human ... [more ▼]

This research concerns the design and prototyping of an artificial middle finger, using Shape Memory Alloys (SMAs), PolyLactic Acid (PLA), and other technologies. The design is a biomimicry of the human biological anatomical and muscular systems. After briefly describing the operational features and functioning of natural striated muscles, the document reviews the features, advantages and disadvantages of SMAs in the perspective of their use as an actuator of a prosthetic finger.Using different design parameters, such as the lightness of the device, actuation complexity, and resilience, a working prototype is proposed meeting the established criteria. [less ▲]

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See detailOperational space control of a lightweight robotic arm actuated by shape memory alloy wires: A comparative study
Quintanar Guzman, Serket UL; Kannan, Somasundar UL; Aguilera Gonzalez, Adriana UL et al

in Journal of Intelligent Material Systems & Structures (2017)

This article presents the design and control of a two-link lightweight robotic arm using shape memory alloy wires as actuators. Both a single-wire actuated system and an antagonistic configuration system ... [more ▼]

This article presents the design and control of a two-link lightweight robotic arm using shape memory alloy wires as actuators. Both a single-wire actuated system and an antagonistic configuration system are tested in open and closed loops. The mathematical model of the shape memory alloy wire, as well as the kinematics and dynamics of the robotic arm, are presented. The operational space control of the robotic arm is performed using a joint space control in the inner loop and closed-loop inverse kinematics in the outer loop. In order to choose the best joint space control approach, a comparative study of four different control approaches (proportional derivative, sliding mode, adaptive, and adaptive sliding mode control) is carried out for the proposed model. From this comparative analysis, the adaptive controller was chosen to perform operational space control. This control helps us to perform accurate positioning of the end-effector of shape memory alloy wire–based robotic arm. The complete operational space control was successfully tested through simulation studies performing position reference tracking in the end-effector space. Through simulation studies, the proposed control solution is successfully verified to control the hysteretic robotic arm. [less ▲]

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See detailHierarchical control of aerial manipulation vehicle
Kannan, Somasundar UL; Bezzaoucha, Souad UL; Quintanar Guzman, Serket UL et al

in AIP Conference Proceedings (2017), 1798(1), 020069

Hierarchical Control of the Aerial Manipulator is treated here. The modelling aspect of the highly coupled Aerial Vehicle which includes Quadrotor and manipulator is discussed. The control design to ... [more ▼]

Hierarchical Control of the Aerial Manipulator is treated here. The modelling aspect of the highly coupled Aerial Vehicle which includes Quadrotor and manipulator is discussed. The control design to perform tasks in operational space is addressed along with stability discussion. The simulation studies are successfully performed to validate the design methodology. [less ▲]

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See detailObserver design for Lightweight Robotic arm actuated by Shape Memory Alloy (SMA) wire
Quintanar Guzman, Serket UL; Kannan, Somasundar UL; Voos, Holger UL et al

in Quintanar Guzman, Serket; Kannan, Somasundar; Voos, Holger (Eds.) et al 14th International Workshop on Advanced Control and Diagnosis, Bucharest, Romania, 16-17 November 2017 (2017)

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See detailAdaptive Control of Hysteretic Robotic arm in Operational Space
Kannan, Somasundar UL; Quintanar Guzman, Serket UL; Bezzaoucha, Souad UL et al

in 5th International Conference on Mechatronics and Control Engineering ICMCE, venice, Italy, 2016 (2016, December 14)

The focus of the current article is on Operational Space Control of a single degree of freedom robotic arm with hysteretic joint behaviour due to actuation by a single Shape Memory Alloy (SMA) wire. A ... [more ▼]

The focus of the current article is on Operational Space Control of a single degree of freedom robotic arm with hysteretic joint behaviour due to actuation by a single Shape Memory Alloy (SMA) wire. A Closed Loop Inverse Kinematics Algorithm is used in the outer loop with Adaptive joint control in the inner loop. A composite stability analysis is used to analyse the stability of the closed loop system and finally successfully validated through simulation study. [less ▲]

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See detailOperational Space Control of a Lightweight Robotic Arm Actuated By Shape Memory Alloy (SMA) Wires
Quintanar Guzman, Serket UL; Kannan, Somasundar UL; Olivares Mendez, Miguel Angel UL et al

in ASME 2016 Conferences on Smart Materials, Adaptive Structures and Intelligent Systems, Vermont 28-30 September 2016 (2016, September)

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See detailLightweight robotic arm actuated by Shape Memory Alloy (SMA) Wires
Quintanar Guzman, Serket UL; Kannan, Somasundar UL; Olivares Mendez, Miguel Angel UL et al

in 8th International Conference on Electronics, Computers and Artificial Intelligence, Ploiesti, Romania, 30 June-02 July 2016 (2016, July 01)

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See detailControl of Aerial Manipulation Vehicle in Operational Space
Kannan, Somasundar UL; Quintanar Guzman, Serket UL; Dentler, Jan Eric UL et al

in 8th International Conference on Electronics, Computers and Artificial Intelligence, Ploiesti, Romania, 30 June-02 July 2016 (2016, July 01)

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See detailAdaptive Control of Robotic arm with Hysteretic Joint
Kannan, Somasundar UL; Bezzaoucha, Souad UL; Quintanar Guzman, Serket UL et al

in 4th International Conference on Control, Mechatronics and Automation (ICCMA'16), Barcelona, Spain 2016 (2016)

This article addresses the problem of control of robotic arm with a hysteretic joint behavior. The mechanical design of the one-degree of freedom robotic arm is presented where the joint is actuated by a ... [more ▼]

This article addresses the problem of control of robotic arm with a hysteretic joint behavior. The mechanical design of the one-degree of freedom robotic arm is presented where the joint is actuated by a Shape Memory Alloy (SMA) wire. The SMA wire based actuation of the joint makes the robotic arm lightweight but at the same time introduces hysteresis type nonlinearities. The nonlinear dynamic model of the robotic arm is introduced and an Adaptive control solution is presented to perform the joint reference tracking in the presence of unknown hysteresis behavior. The Lyapunov stability analysis of the closed loop system is presented and finally proposed adaptive control solution is validated through simulation study on the proposed nonlinear hysteretic robotic arm. [less ▲]

Detailed reference viewed: 102 (6 UL)