Adaptive Control of Hysteretic Robotic arm in Operational Space

Kannan, Somasundar; Quintanar Guzman, Serket; Bezzaoucha, Souad; Olivares Mendez, Miguel Angel; Voos, Holger

doi:10.1145/3036932.3036957

Reference : Adaptive Control of Hysteretic Robotic arm in Operational Space


	Document type :	Scientific congresses, symposiums and conference proceedings : Paper published in a book
	Discipline(s) :	Engineering, computing & technology : Computer science
	Focus Areas :	Security, Reliability and Trust
	To cite this reference:	http://hdl.handle.net/10993/32863

Title :	Adaptive Control of Hysteretic Robotic arm in Operational Space
Language :	English
Author, co-author :	Kannan, Somasundar [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > >]
	Quintanar Guzman, Serket [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > >]
	Bezzaoucha, Souad [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > >]
	Olivares Mendez, Miguel Angel [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)]
Publication date :	14-Dec-2016
Main document title :	5th International Conference on Mechatronics and Control Engineering ICMCE, venice, Italy, 2016
Pages :	92-96
Peer reviewed :	Yes
On invitation :	No
Audience :	International
Event name :	5th International Conference on Mechatronics and Control Engineering ICMCE
Event date :	Dec 14-17 2016
Event place (city) :	venice
Event country :	Italy
Keywords :	[en] Control Engineering ; Robotics
Abstract :	[en] 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.
Target :	Researchers
Permalink :	http://hdl.handle.net/10993/32863
DOI :	10.1145/3036932.3036957

File(s) associated to this reference

Fulltext file(s):

	File	Commentary	Version	Size	Access
Open access	p92-Kannan-1.pdf		Publisher postprint	582.4 kB	View/Open

All documents in ORBi^lu are protected by a user license.

University of Luxembourg Library | Feedback | Legal notices