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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