Adaptive control of hysteretic robotic arm in operational space.

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

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

• Presentation Conference Type: Conference Paper (published)
• Conference Name: 5th International conference on mechatronics and control engineering 2016 (ICMCE 2016)
• 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)
• Peer Reviewed: Peer Reviewed
• 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