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Adaptive control for a lightweight robotic arm actuated by a shape memory allow wire.

Quintanar-Guzmán, S.; Kannan, S.; Voos, H.; Darouach, M.; Alma, M.

Authors

S. Quintanar-Guzmán

H. Voos

M. Darouach

M. Alma



Contributors

Hubert Borgmann
Editor

Abstract

This paper presents the design, model and closed-loop control of a single degree-of-freedom (DOF) lightweight robotic arm actuated by a biased Shape Memory Alloy (SMA) wire. The highly non-linear dynamics of SMAs represent a challenge for control tasks, due to phenomena as hysteresis or parameters uncertainty. With this in mind, we propose a control capable to adapt itself to the hysteretic behavior and update its behavior to deal with the changing parameters of the material over time. An adaptive control for position regulation is presented. This control includes a set of techniques, providing a systematic way to adjust the control parameters in real time, so maintaining the stability of the system and a desired performance, while dealing with parameter and model uncertainties. The closed-loop approach is tested in experimentally showing its effectiveness to deal with the highly non-linear dynamics of the SMA wire.

Citation

QUINTANAR-GUZMÁN, S., KANNAN, S., VOOS, H., DAROUACH, M. and ALMA, M. 2018. Adaptive control for a lightweight robotic arm actuated by a shape memory allow wire. In Borgmann, H. (ed.) Proceedings of the 16th International conference on new actuators 2018 (ACTUATOR 2018), 25-27 June 2018, Bremen, Germany. Berlin: VDE Verlag, pages 388-393. Hosted on IEEE [online]. Available from: https://ieeexplore.ieee.org/document/8470840

Conference Name 16th International conference on new actuators 2018 (ACTUATOR 2018)
Conference Location Bremen, Germany
Start Date Jun 25, 2018
End Date Jun 27, 2018
Acceptance Date Jan 31, 2018
Online Publication Date Jun 27, 2018
Publication Date Sep 23, 2018
Deposit Date Dec 6, 2022
Publicly Available Date Mar 28, 2024
Publisher VDE Verlag
Pages 388-393
ISBN 9783800746750
Keywords SMA wire; Adaptive control; Lightweight; Robotic arm
Public URL https://rgu-repository.worktribe.com/output/1279769
Publisher URL https://ieeexplore.ieee.org/document/8470840/

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