<abstract xmlns="http://www.w3.org/1999/xhtml">

<p>This paper pursues a promising approach to obtain strain feedback based angular motion control of a manipulator for any robotic application. The proposed single degree of freedom manipulator uses antagonistic shape memory alloy (SMA) actuated wires. Antagonistic SMA actuated structures employ opposing pairs of one-way SMA actuators to create systems capable of a fully reversible response. A self-tuning PID type fuzzy (auto adaptive) based control scheme is designed and implemented experimentally. The controller is designed based on the model estimated by using system identification technique. Experimental and simulation results show that antagonistic SMA actuator in combination with the controller can track any input trajectory signal with high accuracy motion control and is suitable for various control applications.</p>
</abstract>

This paper pursues a promising approach to obtain strain feedback based angular motion control of a manipulator for any robotic application. The proposed single degree of freedom manipulator uses antagonistic shape memory alloy (SMA) actuated wires. Antagonistic SMA actuated structures employ opposing pairs of one-way SMA actuators to create systems capable of a fully reversible response. A self-tuning PID type fuzzy (auto adaptive) based control scheme is designed and implemented experimentally. The controller is designed based on the model estimated by using system identification technique. Experimental and simulation results show that antagonistic SMA actuator in combination with the controller can track any input trajectory signal with high accuracy motion control and is suitable for various control applications.

Auto-Adaptive Control of a One-Joint Arm Direct Driven by Antagonistic Shape Memory Alloy

International Journal on Smart Sensing and Intelligent Systems

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

This paper pursues a promising approach to obtain strain feedback based angular motion control of a manipulator for any robotic application. The proposed...

Auto-Adaptive Control of a One-Joint Arm Direct Driven by Antagonistic Shape Memory Alloy

Pubblicato online: 05 giu 2013

Pagine: 833 - 849

Ricevuto: 12 apr 2013

Accettato: 02 mag 2013

DOI: https://doi.org/10.21307/ijssis-2017-568

© 2013 D Josephine Selvarani Ruth et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.