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Adaptive control of hysteretic robotic arm in operational space.

Kannan, Somasundar; Quintanar-Guzman, Serket; Bezzaoucha, Souad; Olivares-Mendez, Miguel A.; Voos, Holger

Authors

Serket Quintanar-Guzman

Souad Bezzaoucha

Miguel A. Olivares-Mendez

Holger Voos



Abstract

The focus of the current article is on Operational Space Control of a single degree of freedom robotic arm with hysteretic joint behaviour due to actuation by a single Shape Memory Alloy (SMA) wire. A Closed Loop Inverse Kinematics Algorithm is used in the outer loop with Adaptive joint control in the inner loop. A composite stability analysis is used to analyse the stability of the closed loop system and finally successfully validated through simulation study.

Citation

KANNAN, S., QUINTANAR-GUZMAN, S., BEZZAOUCHA, S., OLIVARES-MENDEZ, M.A. and VOOS, H. 2016. Adaptive control of hysteretic robotic arm in operational space. In Proceedings of the 5th International conference on mechatronics and control engineering 2016 (ICMCE 2016), 14-17 December 2016, Venice, Italy. New York: ACM [online], pages 92-96. Available from: https://doi.org/10.1145/3036932.3036957

Conference Name 5th International conference on mechatronics and control engineering 2016 (ICMCE 2016)
Conference Location Venice, Italy
Start Date Dec 14, 2016
End Date Dec 17, 2016
Acceptance Date Dec 14, 2016
Online Publication Date Dec 14, 2016
Publication Date Dec 31, 2016
Deposit Date Dec 6, 2022
Publicly Available Date Dec 6, 2022
Publisher Association for Computing Machinery (ACM)
Pages 92-96
ISBN 9781450352154
DOI https://doi.org/10.1145/3036932.3036957
Keywords Shape memory alloy (SMA) actuator; Robotic arm; Hysteresis; Adaptive control; Inverse kinematics; Stability
Public URL https://rgu-repository.worktribe.com/output/1279823

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