Shape Memory Alloy (SMA) Actuator; Robotic Arm; Hysteresis; Adaptive Control
Abstract :
[en] 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.
Kannan, Somasundar ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)
Bezzaoucha, Souad ; 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)
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)
External co-authors :
no
Language :
English
Title :
Adaptive Control of Robotic arm with Hysteretic Joint
Publication date :
2016
Event name :
4th International Conference on Control, Mechatronics and Automation (ICCMA'16)
Event place :
Barcelona, Spain
Event date :
07-12-2016 to 11-12-2016
Main work title :
4th International Conference on Control, Mechatronics and Automation (ICCMA'16), Barcelona, Spain 2016
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