Title :
Control design of shape memory alloy based multi-arm continuum robot inspired by octopus
Author :
Tianjiang Zheng ; Yawei Yang ; Branson, David T. ; Rongjie Kang ; Guglielmino, Emanuele ; Cianchetti, Matteo ; Caldwell, D.G. ; Guilin Yang
Author_Institution :
Div. of Adv. Manuf., Ningbo Ind. Technol. Res. Inst., Ningbo, China
Abstract :
Highly flexible continuum arms have been investigated thoroughly. Materials and actuators employed include cables, pneumatic muscles, and also shape memory alloys (SMAs). SMA is a smart material that can be applied to continuum robot due to their intrinsic compliance. It can elongate or contract by applying external forces and return to its original shape when given appropriate current. However, control of the SMA actuated robot is still a challenge. This paper takes inspiration from octopus neurophysiology and designs a hierarchical controller for the SMA based continuum robotic arm.
Keywords :
control system synthesis; flexible manipulators; intelligent actuators; intelligent materials; multi-robot systems; shape memory effects; SMA actuated robot; actuators; cables; control design; flexible continuum arms; hierarchical controller; octopus neurophysiology; pneumatic muscles; shape memory alloy based multiarm continuum robot; smart material; Actuators; Conferences; Digital signal processing; Manipulators; Pneumatic systems; Prototypes; Central nervous system; Continuum Robot; Muscular hydrostat; PID controller; Shape memory alloys;
Conference_Titel :
Industrial Electronics and Applications (ICIEA), 2014 IEEE 9th Conference on
Conference_Location :
Hangzhou
Print_ISBN :
978-1-4799-4316-6
DOI :
10.1109/ICIEA.2014.6931331
