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Adaptive Control of Hysteretic Robotic arm in Operational Space
Kannan, Somasundar; Quintanar Guzman, Serket; Bezzaoucha, Souad et al.
2016In 5th International Conference on Mechatronics and Control Engineering ICMCE, venice, Italy, 2016
Peer reviewed
 

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Keywords :
Control Engineering; Robotics
Abstract :
[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 :
Computer science
Author, co-author :
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)
External co-authors :
no
Language :
English
Title :
Adaptive Control of Hysteretic Robotic arm in Operational Space
Publication date :
14 December 2016
Event name :
5th International Conference on Mechatronics and Control Engineering ICMCE
Event place :
venice, Italy
Event date :
Dec 14-17 2016
Audience :
International
Main work title :
5th International Conference on Mechatronics and Control Engineering ICMCE, venice, Italy, 2016
Pages :
92-96
Peer reviewed :
Peer reviewed
Focus Area :
Security, Reliability and Trust
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since 06 November 2017

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