Control of an automotive shape memory alloy mirror actuator

Williams, Eric; Shaw, Gordon; Elahinia, Mohammad

doi:10.1016/j.mechatronics.2010.04.002

Cited by 112 publications

(64 citation statements)

References 46 publications

(46 reference statements)

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“…Among the many applications of the SMA wires, several specific purpose actuators have been reported in the literature, such as: construction vibrations dampers (Sreekumar et al, 2009), camera lens focus actuators (Son et al, 2009), car mirror actuators (Williams et al, 2010) or SMA based motors (Quintanar-Guzmán et al, 2014). Moreover, SMA wires are also useful in robotic manipulators since they allow motion without using larger drives.…”

Section: Introductionmentioning

confidence: 99%

Operational space control of a lightweight robotic arm actuated by shape memory alloy wires: A comparative study

Quintanar-Guzman

Kannan

Gonzalez

et al. 2017

Journal of Intelligent Material Systems and Structures

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This paper 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-loop. The mathematical model of the SMA wire, as well as the kinematics and dynamics of the robotic arm, are presented. The Operational Space Control of the robotic arm is performed by 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 endeffector of SMA 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.

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Section: Introductionmentioning

confidence: 99%

Operational space control of a lightweight robotic arm actuated by shape memory alloy wires: A comparative study

Quintanar-Guzman

Kannan

Gonzalez

et al. 2017

Journal of Intelligent Material Systems and Structures

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“…While normally, grippers can provide an approximate gripping in industrial conditions, but precise force application and gripping requires immensely good fabrication and intelligence to the on troller for controlling the movements. By applying shape memory alloy wire spring actuators, [4] mechanical actuator movement can be achieved based on the amount of current passed through and for the time duration. The heating characteristics of the SMAs allow to adjust the restoring force accordingly, to accomplish controlled and precise movement of the curved grippers.…”

Section: Introductionmentioning

confidence: 99%

Design and Development of Robot Gripper: Shape Memory Alloy Approach

Chavan¹,

Naukudkar²,

Kumbhar³

et al. 2017

IEJ

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“…Different forms of SMA materials can be used for actuation but only the wires-type of SMA actuators will be addressed here in the current article. SMA wires are being used in medical applications [13,12], dental applications [14], automotive devices [19], SMA based motors [17], robotic manipulators [5,10,11] and other general purpose actuators [3,4,8,7,6,9]. On the other hand the design and development of SMA actuators are challenging due to low energy efficiency, slow response, hysteresis type nonlinearity which cannot be ignored and requires customized mechanical design and advanced modelling and control solutions.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Control of Robotic arm with Hysteretic Joint

Kannan

Bezzaoucha

Quintanar-Guzman

et al. 2016

Proceedings of the 4th International Conference on Control, Mechatronics and Automation

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This article addresses the problem of control of robotic arm with a hysteretic joint behaviour. The mechanical design of the one-degree of freedom robotic arm is presented where the joint is actuated by a Shape Memory Alloy (SMA) wire. The SMA wire based actuation of the joint makes the robotic arm lightweight but at the same time introduces hysteresis type nonlinearities. The nonlinear dynamic model of the robotic arm is introduced and an Adaptive control solution is presented to perform the joint reference tracking in the presence of unknown hysteresis behaviour. The Lyapunov stability analysis of the closed loop system is presented and finally proposed adaptive control solution is validated through simulation study on the proposed nonlinear hysteretic robotic arm.

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Control of an automotive shape memory alloy mirror actuator

Cited by 112 publications

References 46 publications

Operational space control of a lightweight robotic arm actuated by shape memory alloy wires: A comparative study

Operational space control of a lightweight robotic arm actuated by shape memory alloy wires: A comparative study

Design and Development of Robot Gripper: Shape Memory Alloy Approach

Adaptive Control of Robotic arm with Hysteretic Joint

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