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.

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

• Presentation Conference Type: Conference Paper (published)
• Conference Name: 16th International conference on new actuators 2018 (ACTUATOR 2018)
• 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: Jun 8, 2023
• Publisher: VDE Verlag
• Peer Reviewed: Peer Reviewed
• 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/