• DocumentCode
    2575711
  • Title

    A visual-servoing system for a humanlike shape memory alloy actuated finger

  • Author

    Andrianesis, Konstantinos ; Tzes, Anthony ; Kolyvas, Efthymios ; Koveos, Yannis

  • Author_Institution
    Univ. of Patras, Rio-Patras
  • fYear
    2007
  • fDate
    25-28 Sept. 2007
  • Firstpage
    1417
  • Lastpage
    1420
  • Abstract
    The control of robotic systems actuated by Shape Memory Alloy (SMA) wires is still an open issue. The goal of this work focuses on the development of a competent control system for a humanlike, 2-DOF, SMA actuated finger. We pursue this objective through a visual-servoing scheme and the implementation of classical decoupled PID controllers for the joint angles. Experimental results prove the efficacy and usability of the suggested scheme.
  • Keywords
    actuators; end effectors; nonlinear dynamical systems; shape memory effects; three-term control; visual servoing; decoupled PID controller; humanlike shape memory alloy actuated finger; robotic system; visual-servoing system; Control systems; Fingers; Pulleys; Robot control; Shape memory alloys; Springs; Table lookup; Temperature; Three-term control; Wires;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Emerging Technologies and Factory Automation, 2007. ETFA. IEEE Conference on
  • Conference_Location
    Patras
  • Print_ISBN
    978-1-4244-0825-2
  • Electronic_ISBN
    978-1-4244-0826-9
  • Type

    conf

  • DOI
    10.1109/EFTA.2007.4416951
  • Filename
    4416951
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2575711