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B-Spline Based Adaptive Control of Shape Memory Alloy Actuated Robotic Systems

[+] Author Affiliations
Yavuz Eren, Constantinos Mavroidis, Jason Nikitczuk

Rutgers University, Piscataway, NJ

Paper No. IMECE2002-33425, pp. 471-478; 8 pages
  • ASME 2002 International Mechanical Engineering Congress and Exposition
  • Dynamic Systems and Control
  • New Orleans, Louisiana, USA, November 17–22, 2002
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 0-7918-3629-0 | eISBN: 0-7918-1691-5, 0-7918-1692-3, 0-7918-1693-1
  • Copyright © 2002 by ASME


In this paper we present a novel controller for Shape Memory Alloy (SMA) actuated robotic systems. The new controller, called BAC (B -spline based A daptive C ontrol), is based on a hybrid combination of gain scheduling, B-spline approximation, variable structure control and integral control. The proposed controller shows excellent positioning accuracy and speed throughout the full range of motion of a SMA actuated robotic system in large-scale applications. To demonstrate the validity of BAC, a novel anthropomorphic SMA Actuated forearm/wrist mechanism is utilized in real-time PC based control experiments. BAC is experimentally compared to PID and integral variable structure controllers and it is shown that its performance is superior.

Copyright © 2002 by ASME



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