Reference : Operational space control of a lightweight robotic arm actuated by shape memory alloy...
Scientific journals : Article
Engineering, computing & technology : Electrical & electronics engineering
Engineering, computing & technology : Materials science & engineering
http://hdl.handle.net/10993/32899
Operational space control of a lightweight robotic arm actuated by shape memory alloy wires: A comparative study
English
Quintanar Guzman, Serket mailto [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > > ; University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit]
Kannan, Somasundar [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > >]
Aguilera Gonzalez, Adriana [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 [University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit > ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)]
25-Aug-2017
Journal of Intelligent Material Systems & Structures
SAGE Publications
Yes
International
1045-389X
1530-8138
[en] SMA wires ; robotic arm ; lightweight
[en] 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.
Researchers ; Professionals ; Students ; General public
http://hdl.handle.net/10993/32899
10.1177/1045389X17721050

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