Operational space control of a lightweight robotic arm actuated by shape memory alloy wires: a comparative study.

Quintanar-Guzm�n, Serket; Kannan, Somasundar; Aguilera-Gonz�lez, Adriana; Olivares-Mendez, Miguel A.; Voos, Holger

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.

Citation

QUINTANAR-GUZMÁN, S., KANNAN, S., AGUILERA-GONZÁLEZ, A., OLIVARES-MENDEZ, M.A. and VOOS, H. 2019. Operational space control of a lightweight robotic arm actuated by shape memory alloy wires: a comparative study. Journal of intelligent material systems and structures [online], 30(9), pages 1368-1384. Available from: https://doi.org/10.1177/1045389x17721050

• Journal Article Type: Article
• Acceptance Date: Aug 25, 2017
• Online Publication Date: Aug 25, 2017
• Publication Date: May 1, 2019
• Deposit Date: Feb 23, 2021
• Publicly Available Date: Feb 23, 2021
• Journal: Journal of Intelligent Material Systems and Structures
• Print ISSN: 1045-389X
• Electronic ISSN: 1530-8138
• Publisher: SAGE Publications
• Peer Reviewed: Peer Reviewed
• Volume: 30
• Issue: 9
• Pages: 1368-1384
• DOI: https://doi.org/10.1177/1045389x17721050
• Keywords: Shape memory alloy wire; Adaptive control; Lightweight robotic arm; Operational space position control; Hysteresis
• Public URL: https://rgu-repository.worktribe.com/output/1206001