Adaptive control of robotic arm with hysteretic joint.

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

Abstract

This article addresses the problem of control of robotic arm with a hysteretic joint behaviour. The mechanical design of the one-degree of freedom robotic arm is presented where the joint is actuated by a Shape Memory Alloy (SMA) wire. The SMA wire based actuation of the joint makes the robotic arm lightweight but at the same time introduces hysteresis type nonlinearities. The nonlinear dynamic model of the robotic arm is introduced and an Adaptive control solution is presented to perform the joint reference tracking in the presence of unknown hysteresis behaviour. The Lyapunov stability analysis of the closed loop system is presented and finally proposed adaptive control solution is validated through simulation study on the proposed nonlinear hysteretic robotic arm.

Citation

KANNAN, S., BEZZAOUCHA, S., QUINTANAR-GUZMAN, S., OLIVARES-MENDEZ, M.A. and VOOS, H. 2016. Adaptive control of robotic arm with hysteretic joint. In Proceedings of 4th International conference on control, mechatronics and authormation 2016 (ICCMA 2016), 7-11 December 2016, Barcelona, Spain. New York: ACM [online], pages 46-50. Available from: https://doi.org/10.1145/3029610.3029632

• Conference Name: 4th International conference on control, mechatronics and authormation 2016 (ICCMA 2016)
• Conference Location: Barcelona, Spain
• Start Date: Dec 7, 2016
• End Date: Dec 11, 2016
• Acceptance Date: Dec 7, 2016
• Online Publication Date: Dec 7, 2016
• Publication Date: Dec 7, 2016
• Deposit Date: Dec 5, 2022
• Publicly Available Date: Dec 5, 2022
• Publisher: Association for Computing Machinery (ACM)
• Pages: 46-50
• ISBN: 9781450352130
• DOI: https://doi.org/10.1145/3029610.3029632
• Keywords: Robotic arm; Adaptive control; Hysteresis; Shape memory alloy (SMA) actuator
• Public URL: https://rgu-repository.worktribe.com/output/1279835