Reference : Adaptive Control of Hysteretic Robotic arm in Operational Space
Scientific congresses, symposiums and conference proceedings : Paper published in a book
Engineering, computing & technology : Computer science
Security, Reliability and Trust
http://hdl.handle.net/10993/32863
Adaptive Control of Hysteretic Robotic arm in Operational Space
English
Kannan, Somasundar [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > >]
Quintanar Guzman, Serket [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > >]
Bezzaoucha, Souad [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > >]
Olivares Mendez, Miguel Angel [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > >]
Voos, Holger mailto [University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit > ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)]
14-Dec-2016
5th International Conference on Mechatronics and Control Engineering ICMCE, venice, Italy, 2016
92-96
Yes
No
International
5th International Conference on Mechatronics and Control Engineering ICMCE
Dec 14-17 2016
venice
Italy
[en] Control Engineering ; Robotics
[en] 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.
Researchers
http://hdl.handle.net/10993/32863
10.1145/3036932.3036957

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