Title :
Utilization of smart transduction devices for flexure control
Author :
Moallem, M. ; Patel, R.V.
Author_Institution :
Dept. of Electr. & Comput. Eng., Univ. of Western Ontario, London, Ont.
fDate :
June 28 2004-July 1 2004
Abstract :
This paper is concerned with developing innovative solutions for flexure control of robotic and other mechatronic systems with structural flexibility. It focuses on the utilization of smart sensor and actuator technologies for flexure control. In this regard, use of promising modern sensor and actuator technologies such as piezoelectric (PZT) transducers and shape memory alloy (SMA) actuators is studied. Implementation of a nonlinear control algorithm is presented for a two-link manipulator actuated by PZT transducers. Furthermore, deflection control of a flexible beam is studied using shape memory alloy (SMA) actuators. Experimental results are presented which illustrate the effectiveness of the control algorithms and improved performance of the controllers over conventional ones
Keywords :
beams (structures); flexible manipulators; intelligent actuators; intelligent sensors; intelligent structures; mechatronics; nonlinear control systems; piezoelectric actuators; piezoelectric transducers; shape control; shape memory effects; PZT transducers; SMA actuators; deflection control; flexible beam; flexure control; mechatronic systems; nonlinear control algorithm; piezoelectric transducer; robotic mid; shape memory alloy actuators; smart actuator technology; smart sensor technology; smart transduction devices; structural flexibility; two link manipulator; Control systems; Intelligent actuators; Intelligent sensors; Mechatronics; Piezoelectric actuators; Piezoelectric transducers; Robot control; Robot sensing systems; Shape control; Shape memory alloys;
Conference_Titel :
Automation Congress, 2004. Proceedings. World
Conference_Location :
Seville
Print_ISBN :
1-889335-21-5
