Abstract-Operational Space Control of an Aerial Manipulation Vehicle is discussed here. The Aerial Manipulation Vehicle has a highly coupled dynamics due to the interaction between the Quadrotor and the attached manipulator. The nonlinear coupling introduces disturbances on the quadrotor which hinders precise control. A control solution in the operational space is considered where the End-Effector has to reach a final position starting from an initial hovering position. A hierarchical control approach is implemented where the outermost layer consist of Closed Loop Inverse Kinematics algorithm followed by position and attitude control loop for the quadrotor. The robotic arm and the quadrotor are controlled by different combinations of PID control methods. The proposed method is successfully tested through simulations for position control of the Aerial Manipulator.

Abstract-The current paper discusses the design, modeling and control of a Light weight robotic arm actuated by Shape Memory Alloy (SMA) actuators, usable for applications such as Aerial Manipulator. Compared to servo motor based robotic arm the proposed design has an added advantage of light weight and high force to mass ratio, but further introduces the problem of nonlinearities such as Hysteresis into the system. A nonlinear dynamic model of the hysteretic robotic arm is systematically developed to perform closed loop simulations. A Joint Space control is performed using Variable Structure Control and the closed loop performance is successfully verified by simulation studies.

This paper presents the design and control of a two-link lightweight robotic arm using Shape Memory Alloy wires as actuators. Both, a single wire actuated system and an antagonistic configuration system are tested in open and closed-loop. The mathematical model of the SMA wire, as well as the kinematics and dynamics of the robotic arm, are presented. The Operational Space Control of the robotic arm is performed by using a Joint Space control in the inner loop and Closed Loop Inverse Kinematics in the outer loop. In order to choose the best Joint Space Control approach, a comparative study of four different control approaches (Proportional Derivative, Sliding Mode, Adaptive and Adaptive Sliding Mode Control) is carried out for the proposed model. From this comparative analysis, the adaptive controller was chosen to perform Operational Space Control. This control helps us to perform accurate positioning of the endeffector of SMA wire based robotic arm. The complete Operational Space control was successfully tested through simulation studies performing position reference tracking in the end-effector space. Through simulation studies the proposed control solution is successfully verified to control the hysteretic robotic arm.

This paper presents the design and control of a two link lightweight robotic arm using a couple of antagonistic Shape Memory Alloy (SMA) wires as actuators. A nonlinear robust control law for accurate positioning of the end effector of the twolink SMA based robotic arm is developed to handle the hysteresis behavior present in the system. The model presented consists of two subsystems: firstly the SMA wires model and secondly the dynamics of the robotic arm itself. The control objective is to position the robotic arm's end effector in a given operational plane position. For this regulation problem a sliding mode control law is applied to the hysteretic system. Finally a Lyapunov analysis is applied to the closed-loop system demonstrating the stability of the system under given conditions. The simulation results demonstrate the accurate and fast response of the control law for position regulation. In addition, the stability of the closed-loop system can be corroborated.

This article addresses the problem of control of robotic arm with a hysteretic joint behaviour. The mechanical design of the one-degree of freedom robotic arm is presented where the joint is actuated by a Shape Memory Alloy (SMA) wire. The SMA wire based actuation of the joint makes the robotic arm lightweight but at the same time introduces hysteresis type nonlinearities. The nonlinear dynamic model of the robotic arm is introduced and an Adaptive control solution is presented to perform the joint reference tracking in the presence of unknown hysteresis behaviour. The Lyapunov stability analysis of the closed loop system is presented and finally proposed adaptive control solution is validated through simulation study on the proposed nonlinear hysteretic robotic arm.