[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
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