Position control of a three-link shape memory alloy actuated robot

Journal of Intelligent Material Systems and Structures

Volumn 17, Issue 5, 2006, Pages 381-392

  Ashrafiuon, Hashem ^a   Eshraghi, Mojtaba ^b   Elahinia, Mohammad H ^c  

^a Villanova University   (United States)

^b IMAGINE Software Inc   (United States)

^c UNIVERSITY OF TOLEDO   (United States)

Author keywords

Robot manipulator; SMA actuator; Variable structure control

Indexed keywords

ACTUATORS; ALLOYS; COMPUTATION THEORY; CONTROL EQUIPMENT; HEAT CONVECTION; KINEMATICS; PHASE TRANSITIONS; SERVOMOTORS;

ROBOT MANIPULATORS; SHAPE MEMORY ALLOYS (SMA); SMA ACTUATORS; VARIABLE STRUCTURE CONTROL;

ROBOTS;

EID: 33646341996     PISSN: 1045389X     EISSN: 15308138     Source Type: Journal    
DOI: 10.1177/1045389X06056780     Document Type: Article

References (30)

1. Arai, K., Aramaki, S. and Yanagisawa, K. 1994. "Continuous System Modelling of Shape Memory Alloy (SMA) for Control Analysis," In: Proceedings of IEEE International Symposium on Micromechatronics and Human Science, Nagoya, Japan, pp. 97 - 99.
2. Brinson, L.C. 1993. "One-dimensional Constitutive Behavior of Shape Memory Alloys Thermomechanical Derivation with Non- constant Material Functions and Redefined Martensite Internal Variable," Journal of Intelligent Material Systems and Structures, 4 (2). 229 - 242.
3. Carpenter, B.F., Head, R.J. and Gehling, R. 1995. "Shape Memory- actuated Gimbal," In: Proceedings of SPIE, Smart Structures and Materials, Vol. 2447, San Diego, CA, pp. 91 - 101.
4. Choi, S.-B. and Cheong, C.-C. 1996. "Vibration Control of Flexible Beam using Shape Memory Alloy Actuators," Journal of Guidance, Control, and Dynamics, 19 (5). 1178 - 1180.
5. Elahinia, M.H. and Ashrafiuon, H. 2002. "Nonlinear Control of a Shape Memory Alloy Actuated Manipulator," ASME Journal of Vibration and Acoustics, 124 (4). 566 - 575.
6. Elahinia, M.H., Ahmadian, M. and Ashrafiuon, H. 2004a. "Design of a Kalman Filter for Rotary Shape Memory Alloy Actuators," Journal of Smart Materials and Structures, 13 (4). 691 - 697.
7. Elahinia, M.H., Seigler, T., Michael Leo, D.J. and Ahmadian, M. 2004b. "Nonlinear Stress-Based Control of a Rotary SMAActuated Manipulator," Journal of Intelligent Material Systems and Structures, 15 (6). 495 - 508.
8. Eshraghi, M. 2003. "Nonlinear Control of A 3-DOF Shape Memory Alloy Actuated Manipulator," MS Thesis, Villanova University, Villanova, PA.
9. Gharaybeh, M.A. and Burdea, G.C. 1995. "Investigation of a Shape Memory Alloy Actuator for Dexterous Force-Feedback Masters," Advanced Robotics, 9 (3). 317 - 329.
10. Gorbet, R.B. and Russell, R.A. 1995. "A Novel Differential Shape Memory Alloy Actuator for Position Control System," Robotica, 13 (4). 423 - 430.
11. Grant, D. and Hayward, V. 1997. "Variable Structure Control of Shape Memory Alloy Actuators," IEEE Control Systems Magazine, 17 (3). 80 - 88.
12. Hashimoto, M., Takeda, M., Sagawa, H., Chiba, I. and Sato, K. 1985. "Application of Shape Memory Alloy to Robotic Actuators," Journal of Robotic Systems, 2 (1). 3 - 25.
13. Hung, J.Y. 1993. "Variable Structure Control: A Survey," IEEE Transactions on Industrial Electronics, 40 (1). 2 - 22.
14. Ikuta, K., Tsukamoto, M. and Hirsoe, S. 1991. "Mathematical Model and Experimental Verification of Shape Memory Alloy for Designing Micro Actuator," In: Proceedings of the IEEE Micro Electro Mechanical Systems Conference, Nara, Japan, pp. 103 - 108.
15. Kafka, V. 1994. "Shape Memory: A New Concept of Explanation and of Mathematical Modeling, Part I: Micromechanical Explanation of the Causality in the SM process," Journal of Intelligent Material Systems and Structures, 5 (6). 809 - 814.
16. Kuribayashi, K. 1986. "A New Actuator of a Joint Mechanism using TiNi Alloy Wire," International Journal of Robotics Research, 4 (4). 47 - 58.
17. Lee, C.J. and Mavroidis, C. 2002. "Analytical Dynamic Model and Experimental Robust and Optimal Control of a Shape-Memory- Alloy Bundle Actuators," In: Proceedings of the ASME IMECE, Paper IMECE2002-33439, Vol. 71, New Orleans, LA, pp. 491 - 498.
18. Liang, C. 1990. "One-dimensional Thermomechanical Constitutive Relations for Shape Memory Materials," Journal of Intelligent Material Systems and Structures, 1 (2). 207 - 234.
19. Madill, D.R. and Wang, D. 1994. "Modelling and L2-stability of a Shape Memory Alloy Position Control System," In: Proceedings of IEEE International Conference on Robotics and Automation, Vol. 1, San Diego, CA, USA, pp. 293 - 299.
20. Nakazato, Y., Kato, T. and Masuda, T. 1993. "Position Control of SMA Actuator by Fuzzy Reasoning," Transactions of Japan Society of Mechanical Engineers, Part C, 59 (565). 2733 - 2738.
21. Reynaerts, D. and Van Brussel, H. 1991. "Development of a SMA High Performance Robotic Actuator," In: 5th International Conference on Advanced Robotics - '91 ICAR, Pisa, Italy, Vol. 61, p. 61-61.
22. Shahin, A.R., Meckl, P.H., Jones, J.D. and Thrasher, M.A. 1994. "Enhanced Cooling of Shape Memory Alloy Wires using Semiconductor Heat Pump Modules," Journal of Intelligent Material Systems and Structures, 5 (1). 95 - 104.
23. Song, G. 2002. "Robust Position Regulation of a Shape Memory Alloy Wire Actuator," Proceedings of the Institution of Mechanical Engineers, Part I (Journal of Systems and Control Engineering), 216 (13). 301 - 308.
24. Song, G., Chaudhry, V. and Batur, C. 2003. "Precision Tracking Control of Shape Memory Alloy Actuators using Neural Networks and a Sliding-mode based Robust Controller," Smart Materials and Structures, 12 (2). 223 - 231.
25. Spong, M.W. and Vidyasagar, M. 1989. Robot Dynamics and Control, pp. 216 - 291, John Wiley and Sons, Inc., New York, USA.
26. Tanaka, Y. 1986. "Thermomechanics of Transformation Pseudoelasticity and Shape Memory Effect in Alloys," International Journal of Plasticity Science, 2 (1). 59 - 72.
27. Tanaka, Y. and Yamada, A. 1991. "A Rotary Actuator using Shape Memory Alloy for a Robot-analysis of the Response with Load," In: Proceedings IROS'91. IEEE/RSJ International Workshop on Intelligent Robots and Systems, Vol. 2, Intelligence for Mechanical Systems, Osaka, Japan, pp. 1163 - 1168.
28. Thrasher, M.A., Shahin, A.R., Meckl, P.H. and Jones, J.D. 1994. "Efficiency Analysis of Shape Memory Alloy Actuators," Smart Materials and Structures, 3 (2). 226 - 234.
29. Utkin, V.I. 1977. "Variable Structure Systems with Sliding Modes," IEEE Transactions on Automatic Control, 22 (2). 212 - 222.
30. Van der Wijst, M.W.M., Schreurs, P.J.G. and Veldpaus, F.E. 1997. "Application of Computed Phase Transformation Power to Control Shape Memory Alloy Actuators," Smart Materials and Structures, 6 (2). 190 - 198.