@article { , title = {Operational space control of a lightweight robotic arm actuated by shape memory alloy wires: a comparative study.}, abstract = {This article presents the design and control of a two-link lightweight robotic arm using shape memory alloy wires as actuators. Both a single-wire actuated system and an antagonistic configuration system are tested in open and closed loops. The mathematical model of the shape memory alloy wire, as well as the kinematics and dynamics of the robotic arm, are presented. The operational space control of the robotic arm is performed using a joint space control in the inner loop and closed-loop inverse kinematics in the outer loop. In order to choose the best joint space control approach, a comparative study of four different control approaches (proportional derivative, sliding mode, adaptive, and adaptive sliding mode control) is carried out for the proposed model. From this comparative analysis, the adaptive controller was chosen to perform operational space control. This control helps us to perform accurate positioning of the end-effector of shape memory alloy wire–based robotic arm. The complete operational space control was successfully tested through simulation studies performing position reference tracking in the end-effector space. Through simulation studies, the proposed control solution is successfully verified to control the hysteretic robotic arm.}, doi = {10.1177/1045389x17721050}, eissn = {1530-8138}, issn = {1045-389X}, issue = {9}, journal = {Journal of Intelligent Material Systems and Structures}, note = {INFO COMPLETE (Record added by contact 17/2/2021) PERMISSION GRANTED (version = AAM; embargo = none; licence = BY-NC-ND; SHERPA = https://v2.sherpa.ac.uk/id/publication/9302 ) DOCUMENT READY (AAM rec'd 23/2/2021 LM) ADDITIONAL INFO - Contact: Somasundar Kannan (Set statement - Copyright © 2017 The Author(s). DOI: 10.1177/1045389x17721050. Users who receive access to an article through a repository are reminded that the article is protected by copyright and reuse is restricted to non-commercial and no derivative uses. Users may also download and save a local copy of an article accessed in an institutional repository for the user's personal reference. For permission to reuse an article, please follow our Process for Requesting Permission. [ https://uk.sagepub.com/en-gb/eur/process-for-requesting-permission ] )}, pages = {1368-1384}, publicationstatus = {Published}, publisher = {SAGE Publications}, url = {https://rgu-repository.worktribe.com/output/1206001}, volume = {30}, keyword = {Shape memory alloy wire, Adaptive control, Lightweight robotic arm, Operational space position control, Hysteresis}, year = {2019}, author = {Quintanar-Guzmán, Serket and Kannan, Somasundar and Aguilera-González, Adriana and Olivares-Mendez, Miguel A. and Voos, Holger} }