ORCID Profile
0000-0001-9369-6112
Current Organisation
Robert Gordon University
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Publisher: ACM
Date: 14-12-2016
Publisher: MDPI AG
Date: 12-12-2015
DOI: 10.3390/S151229861
Publisher: IEEE
Date: 06-2017
Publisher: IEEE
Date: 05-2014
Publisher: Author(s)
Date: 2017
DOI: 10.1063/1.4972660
Publisher: Springer Science and Business Media LLC
Date: 20-04-2018
Publisher: IEEE
Date: 06-2017
Publisher: IEEE
Date: 06-2017
Publisher: SAGE Publications
Date: 25-08-2017
Abstract: This article presents the design and control of a two-link lightweight robotic arm using shape memory alloy wires as actuators. Both a single-wire actuated system and an antagonistic configuration system are tested in open and closed loops. The mathematical model of the shape memory alloy wire, as well as the kinematics and dynamics of the robotic arm, are presented. The operational space control of the robotic arm is performed using a joint space control in the inner loop and closed-loop inverse kinematics in the outer loop. In order to choose the best joint space control approach, a comparative study of four different control approaches (proportional derivative, sliding mode, adaptive, and adaptive sliding mode control) is carried out for the proposed model. From this comparative analysis, the adaptive controller was chosen to perform operational space control. This control helps us to perform accurate positioning of the end-effector of shape memory alloy wire–based robotic arm. The complete operational space control was successfully tested through simulation studies performing position reference tracking in the end-effector space. Through simulation studies, the proposed control solution is successfully verified to control the hysteretic robotic arm.
Publisher: IEEE
Date: 12-2016
Publisher: Springer Science and Business Media LLC
Date: 07-03-2018
Publisher: ACM
Date: 07-12-2016
Publisher: American Society of Mechanical Engineers
Date: 28-09-2016
Abstract: This paper presents the design and control of a two link lightweight robotic arm using a couple of antagonistic Shape Memory Alloy (SMA) wires as actuators. A nonlinear robust control law for accurate positioning of the end effector of the two-link SMA based robotic arm is developed to handle the hysteresis behavior present in the system. The model presented consists of two subsystems: firstly the SMA wires model and secondly the dynamics of the robotic arm itself. The control objective is to position the robotic arm’s end effector in a given operational plane position. For this regulation problem a sliding mode control law is applied to the hysteretic system. Finally a Lyapunov analysis is applied to the closed-loop system demonstrating the stability of the system under given conditions. The simulation results demonstrate the accurate and fast response of the control law for position regulation. In addition, the stability of the closed-loop system can be corroborated.
Publisher: ACM
Date: 07-12-2016
Publisher: Author(s)
Date: 2017
DOI: 10.1063/1.4972661
Publisher: IEEE
Date: 08-2017
Publisher: IEEE
Date: 06-2015
Publisher: IEEE
Date: 11-2014
Publisher: IEEE
Date: 06-2014
Publisher: Elsevier BV
Date: 2013
Location: United Kingdom of Great Britain and Northern Ireland
Location: United Kingdom of Great Britain and Northern Ireland
No related grants have been discovered for Somasundar Kannan.