[en] This article presents the experimental validation of a Direct Adaptive Control for angular position regulation of a lightweight robotic arm. The robotic arm is single degree-of-freedom (DOF) system, actuated by two Shape Memory Alloy (SMA) wires. The proposed adaptive control is capable of adapting itself to the hysteretic behavior of SMA wires and update its behavior to deal
with the changing parameters of the material over time. The closed-loop approach is tested experimentally showing its effectiveness to deal with the highly nonlinear dynamics of the SMA
wires. These results are discussed and compared with a classical control approach. The updated design and hardware development and modeling of the robotic arm are shown.
Disciplines :
Electrical & electronics engineering
Author, co-author :
Quintanar Guzman, Serket ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) ; University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit ; Université de Lorraine > Automatic Control-Identification Diagnosis > UIT Longwy
Kannan, Somasundar ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)
Voos, Holger ; University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)
Darouach, Mohamed; Université de Lorraine > Automatic Control-Identification Diagnosis > UIT Longwy
Alma, Marouane; Université de Lorraine > Automatic Control-Identification Diagnosis > UIT Longwy
External co-authors :
yes
Language :
English
Title :
Experimental validation of adaptive control for a Shape Memory Alloy actuated lightweight robotic arm
Publication date :
September 2018
Event name :
ASME 2018 Conferences on Smart Materials, Adaptive Structures and Intelligent Systems (SMASIS2018)
Event place :
San Antonio, United States - Texas
Event date :
from 10-09-2018 to 12-09-2018
Audience :
International
Main work title :
ASME 2018 Conferences on Smart Materials, Adaptive Structures and Intelligent Systems, San Antonio 10-12 September 2018
