Adaptive Control of Hysteretic Robotic arm in Operational Space

Somasundar Kannan, Serket Quintanar-Guzman, Souad Bezzaoucha, Miguel A. Olivares-Mendez, Holger Voos
2016 Proceedings of the 5th International Conference on Mechatronics and Control Engineering - ICMCE '16  
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.
doi:10.1145/3036932.3036957 fatcat:g6x4yotuxbconeecrzm7wogv74