Operational space control of a lightweight robotic arm actuated by shape memory alloy wires: A comparative study

Quintanar-Guzman, Serket; Kannan, Somasundar; Gonzalez, Adriana Aguilera; Olivares-Méndez, Miguel A.; Voos, Holger

doi:10.1177/1045389x17721050

Cited by 9 publications

(7 citation statements)

References 47 publications

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“…This is not the case in an antagonistic arrangement of two actuator wires. Research shows the potential of the antagonistic approach to be able to operate fast and accurate [ 30 , 31 ]. An actuator wire can only be resetted when cooled down below martensite finish temperature

.…”

Section: Methodsmentioning

confidence: 99%

Position Control and Force Estimation Method for Surgical Forceps Using SMA Actuators and Sensors

et al. 2021

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Minimally invasive surgery is increasingly used in many medical operations because of the benefits for the patients. However, for the surgeons, accessing the situs through a small incision or natural orifice comes with a reduction of the degrees of freedom of the instrument. Due to friction of the mechanical coupling, the haptic feedback lacks sensitivity that could lead to damage of the tissue. The approach of this work to overcome these problems is to develop a control concept for position control and force estimation with shape memory alloys (SMA) which could offer haptic feedback in a novel handheld instrument. The concept aims to bridge the gap between manually actuated laparoscopic instruments and surgical robots. Nickel-titanium shape memory alloys are used for actuation because of their high specific energy density. The work includes the manufacturing of a functional model as a proof of concept comprising the development of a suitable forceps mechanism and electronic circuit for position control and gripping force measurement, as well as designing an ergonomic user interface with haptic force feedback.

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.…”

Section: Methodsmentioning

confidence: 99%

Position Control and Force Estimation Method for Surgical Forceps Using SMA Actuators and Sensors

et al. 2021

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“…Figure 1 shows a Computer Aided Design (CAD) model of the lightweight robotic arm. The mechanism presented here is based on a previous work published in [26,27]. The proposed design is a lightweight robotic arm with one Degree of Freedom (DOF), actuated by 3 SMA wires.…”

Section: Sma Wire Actuated Robot Arm Designmentioning

confidence: 99%

“…The robotic arm presented in [26,27] is originally based on the joint proposed by the authors in [20]. This design proposes two couplers (coupler-1 and coupler-2), each one actuated by an individual SMA wire (SMA-1 and SMA-2 respectively), and joined with a torsion spring in between the couplers.…”

Section: Sma Wire Actuated Robot Arm Designmentioning

confidence: 99%

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Experimental Validation of Adaptive Control for a Shape Memory Alloy Actuated Lightweight Robotic Arm

Quintanar-Guzman

Kannan

Voos

et al. 2018

Volume 1: Development and Characterization of Multifunctional Materials; Modeling, Simulation, and Control of Adaptive Systems;

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This article presents the experimental validation of a Direct Adaptive Control for angular position regulation of a lightweight robotic arm. The robotic arm is single degree-of-freedom (DOF) system, actuated by two Shape Memory Alloy (SMA) wires. The proposed adaptive control is capable of adapting itself to the hysteretic behavior of SMA wires and update its behavior to deal with the changing parameters of the material over time. The closed-loop approach is tested experimentally showing its effectiveness to deal with the highly nonlinear dynamics of the SMA wires. These results are discussed and compared with a classical control approach. The updated design and hardware development and modeling of the robotic arm are shown.

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“…The control law consists of a continuous robust integral of signum error (RISE) feedback term and an NN (neural networks) feedforward term. The design and control of a two-link lightweight robotic arm using SMA wires as actuators were presented in [22]. In order to choose the best joint space control approach, a comparative study of four different control approaches (PD, sliding mode, adaptive and adaptive sliding mode control) was carried out for the proposed model.…”

Section: Introductionmentioning

confidence: 99%

Development of a cascade position control system for an SMA-actuated rotary actuator with improved experimental tracking results

Moghadam

Zakerzadeh

Ayati

2019

J Braz. Soc. Mech. Sci. Eng.

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Hysteresis and significant nonlinearities in the stress-strain-temperature characteristics of shape memory alloy (SMA) actuators prevent effective utilization of these actuators and make them difficult to control. Due to these effects, the position control of SMA actuators has been a great challenge for many industrial applications. In this study, a cascade control for position tracking using torque and position measurement of an SMA-actuated rotary actuator is considered. The effects of the SMA characteristic model on control performance are also focused when simulation consequences are directly applied in practice. Based on nonlinear and unknown dynamics of an SMA actuator, a torque regulation adaptive controller using modified Brinson model is developed that requires to approximate the parameters of the system by only measuring SMA force and actuator rotation. Although it is shown that only an approximate model of the system is sufficient to develop the proposed controller, the system dynamic is simulated using MATLAB software, and the characteristics of SMA wire is considered by both modified Brinson constitutive model and Liang and Rogers constitutive model. The controller gains are regulated for both of the mentioned models using simulation. Finally, the performance of both controllers is further evaluated experimentally, and the accuracy of the proposed controller based on the modified Brinson model is compared to the controller based on the Liang and Rogers model. It is shown that since the Brinson model has a better prediction of the SMA wire behavior, the simulation results based on the modified Brinson model have better conformity to reality.

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Operational space control of a lightweight robotic arm actuated by shape memory alloy wires: A comparative study

Cited by 9 publications

References 47 publications

Position Control and Force Estimation Method for Surgical Forceps Using SMA Actuators and Sensors

Position Control and Force Estimation Method for Surgical Forceps Using SMA Actuators and Sensors

Experimental Validation of Adaptive Control for a Shape Memory Alloy Actuated Lightweight Robotic Arm

Development of a cascade position control system for an SMA-actuated rotary actuator with improved experimental tracking results

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