Dynamic control for a tentacle manipulator with SMA actuators

Author

Ivanescu, Mircea ; Bizdoaca, Nicu ; Pana, Daniela

Author_Institution

Autom. & Comput. Dept., Craiova Univ., Romania

Volume

2

fYear

2003

fDate

14-19 Sept. 2003

Firstpage

2079

Abstract

The control problem of the spatial tentacle manipulator with SMA control is presented. The difficulties determined by the complexity of the nonlinear integral-differential equations are avoided by using a very basic energy relationship of this system. A PD controller is discussed and a control coefficient selection procedure is introduced. Numerical simulations for planar and spatial tentacle models are presented and an experimental model is discussed.

Keywords

PD control; actuators; distributed parameter systems; integral equations; manipulator dynamics; motion control; nonlinear differential equations; numerical analysis; PD controller; SMA; SMA actuators; SMA control; distributed parameter systems; dynamic control; nonlinear differential equations; nonlinear integral equations; numerical simulations; planar model; shape memory alloy; spatial tentacle manipulator; spatial tentacle models; system energy relationships; Actuators; Automatic control; Control systems; Integral equations; Manipulator dynamics; Nonlinear equations; Numerical simulation; Robots; Shape control; Spine;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-7736-2

Type

conf

DOI

10.1109/ROBOT.2003.1241900

Filename

1241900