DocumentCode :
1601437
Title :
Controller Design on the Fingerspelling Robot Hand using Shape Memory Alloy
Author :
Terauchi, Mina ; Zenba, Kouta ; Shimada, Akira ; Fujita, Masanori
Author_Institution :
Dept. of Electr. Syst. Eng., Polytech. Univ., Kanagawa
fYear :
2006
Firstpage :
3480
Lastpage :
3483
Abstract :
This paper introduces the mechanical structure and control technique of the robot fingers. The fingers has been developed as elements of the robot hand which has 20 joints and 16 degrees of freedom in order to express fingerspelling. The joints are driven by the small DC servomotors and the shape memory alloys (SMA). The hand system will consist of four parts of "hand mechanism", "drive device", "control unit" and "man machine interface". As the first step of the research, this paper introduces especially about the control technique related to the second axes of the fingers driven by SMA. Basically, the finger can be bended and unbend by a pair of SMA wires. Furthermore, to realize those smooth motions, the control system is designed based on an experimental result of system identification. Finally, we report the simulation and experimental control results
Keywords :
control system synthesis; robots; servomotors; user interfaces; DC servomotors; control unit; controller design; drive device; fingerspelling robot hand; hand mechanism; man machine interface; shape memory alloy; Control systems; Fingers; Man machine systems; Motion control; Robots; Servomotors; Shape control; Shape memory alloys; System identification; Wires; Control; Fingerspelling; Robot hand; Shape Memory Alloy; System Identification;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
SICE-ICASE, 2006. International Joint Conference
Conference_Location :
Busan
Print_ISBN :
89-950038-4-7
Electronic_ISBN :
89-950038-5-5
Type :
conf
DOI :
10.1109/SICE.2006.315168
Filename :
4108363
Link To Document :
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