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
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;
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
DOI :
10.1109/EFTA.2007.4416951
