AUTO-ADAPTIVE CONTROL OF A ONE-JOINT ARM DIRECT DRIVEN BY ANTAGONISTIC SHAPE MEMORY ALLOY

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International Journal on Smart Sensing and Intelligent Systems

Professor Subhas Chandra Mukhopadhyay

Exeley Inc. (New York)

Subject: Computational Science & Engineering, Engineering, Electrical & Electronic

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VOLUME 6 , ISSUE 3 (June 2013) > List of articles

AUTO-ADAPTIVE CONTROL OF A ONE-JOINT ARM DIRECT DRIVEN BY ANTAGONISTIC SHAPE MEMORY ALLOY

D Josephine Selvarani Ruth * / S Sunjai Nakshatharan * / K Dhanalakshmi *

Keywords : Shape Memory Alloy, Antagonistic Angular Motion Control, One-Joint Arm Manipulator, Self-tuning Fuzzy PID

Citation Information : International Journal on Smart Sensing and Intelligent Systems. Volume 6, Issue 3, Pages 833-849, DOI: https://doi.org/10.21307/ijssis-2017-568

License : (CC BY-NC-ND 4.0)

Received Date : 12-April-2013 / Accepted: 02-May-2013 / Published Online: 05-June-2013

ARTICLE

ABSTRACT

This paper pursues a promising approach to obtain strain feedback based angular motion control of a manipulator for any robotic application. The proposed single degree of freedom manipulator uses antagonistic shape memory alloy (SMA) actuated wires. Antagonistic SMA actuated structures employ opposing pairs of one-way SMA actuators to create systems capable of a fully reversible response. A self-tuning PID type fuzzy (auto adaptive) based control scheme is designed and implemented experimentally. The controller is designed based on the model estimated by using system identification technique. Experimental and simulation results show that antagonistic SMA actuator in combination with the controller can track any input trajectory signal with high accuracy motion control and is suitable for various control applications.

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REFERENCES

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