[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.
Disciplines :
Sciences informatiques
Auteur, co-auteur :
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 ; University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)
Co-auteurs externes :
no
Langue du document :
Anglais
Titre :
Adaptive Control of Hysteretic Robotic arm in Operational Space
Date de publication/diffusion :
14 décembre 2016
Nom de la manifestation :
5th International Conference on Mechatronics and Control Engineering ICMCE
Lieu de la manifestation :
venice, Italie
Date de la manifestation :
Dec 14-17 2016
Manifestation à portée :
International
Titre de l'ouvrage principal :
5th International Conference on Mechatronics and Control Engineering ICMCE, venice, Italy, 2016
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