This paper reviews recent developments in nonlinear control technologies for shape memory alloy (SMA) actuators in robotics and their related applications. SMA possesses large hysteresis, low bandwidth, slow response,...
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This paper reviews recent developments in nonlinear control technologies for shape memory alloy (SMA) actuators in robotics and their related applications. SMA possesses large hysteresis, low bandwidth, slow response, and non-linear behavior, which make them difficult to control. The fast response of the SMA actuator mostly depends upon, (1) type of controller, (2) rate of addition and removal of heat, and (3) shape or form of the actuator. Though linear controllers are more desirable than nonlinear ones, the review of literature shows that the results obtained using nonlinear controllers were far better than the former one. Therefore, more emphasis is made on the nonlinear control technologies taking into account the intelligent controllers. Various forms of SMA actuator along with different heating and cooling methods are presented in this review, followed by the nonlinear control methods and the control problems encountered by the researchers.
Parallel manipulators are best known for their high load carrying capacity, stiffness, fast, accurate positioning etc., compared to their serial counterparts. Lightweight parallel manipulators are typical parallel mec...
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Parallel manipulators are best known for their high load carrying capacity, stiffness, fast, accurate positioning etc., compared to their serial counterparts. Lightweight parallel manipulators are typical parallel mec...
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Parallel manipulators are best known for their high load carrying capacity, stiffness, fast, accurate positioning etc., compared to their serial counterparts. Lightweight parallel manipulators are typical parallel mechanisms in which the linear-rotary actuators and spherical-rotary joints are replaced by smart actuators and with or without flexure joints. This paper describes about a lightweight miniature parallel manipulator of size 17.5mm dia.x25mm height, made of Beryllium-Copper spring steel and actuated by Shape Memory Alloy (SMA) actuators. The system modelling which includes dynamics and kinematics analysis is briefly described. The possibility of incorporating an Intelligent Fuzzy Controller is investigated. Preliminary simulation results are presented.
This article explores a new field, namely, manufacturing through grasping and manipulation within a robotic hand. Based on the study of anthropomorphic manufacturing, a taxonomy of tasks has evolved. The paper illustr...
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The paper proposes a two-stage design approach to optimal H2 and H∞ decentralized control problems. In the first stage, an optimal centralized controller is computed. Then based on the parametrization results for cen...
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ISBN:
(纸本)0780302109
The paper proposes a two-stage design approach to optimal H2 and H∞ decentralized control problems. In the first stage, an optimal centralized controller is computed. Then based on the parametrization results for centralized controllers, in the second stage, the parameter that decentralizes the controller is optimized. The design approach is applied to an observer-based decentralized controller. Optimality conditions are derived.
The paper proposes a two-stage design approach to optimal H 2/ and H ∞ decentralized control problems. In the first stage, an optimal centralized controller is computed. Then based on the parametrization results fo...
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The paper proposes a two-stage design approach to optimal H 2/ and H ∞ decentralized control problems. In the first stage, an optimal centralized controller is computed. Then based on the parametrization results for centralized controllers, in the second stage, the parameter that decentralizes the controller is optimized. The design approach is applied to an observer-based decentralized controller. Optimality conditions are derived.
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