Control design of shape memory alloy based multi-arm continuum robot inspired by octopus

Author

Tianjiang Zheng ; Yawei Yang ; Branson, David T. ; Rongjie Kang ; Guglielmino, Emanuele ; Cianchetti, Matteo ; Caldwell, D.G. ; Guilin Yang

Author_Institution

Div. of Adv. Manuf., Ningbo Ind. Technol. Res. Inst., Ningbo, China

fYear

2014

fDate

9-11 June 2014

Firstpage

1108

Lastpage

1113

Abstract

Highly flexible continuum arms have been investigated thoroughly. Materials and actuators employed include cables, pneumatic muscles, and also shape memory alloys (SMAs). SMA is a smart material that can be applied to continuum robot due to their intrinsic compliance. It can elongate or contract by applying external forces and return to its original shape when given appropriate current. However, control of the SMA actuated robot is still a challenge. This paper takes inspiration from octopus neurophysiology and designs a hierarchical controller for the SMA based continuum robotic arm.

Keywords

control system synthesis; flexible manipulators; intelligent actuators; intelligent materials; multi-robot systems; shape memory effects; SMA actuated robot; actuators; cables; control design; flexible continuum arms; hierarchical controller; octopus neurophysiology; pneumatic muscles; shape memory alloy based multiarm continuum robot; smart material; Actuators; Conferences; Digital signal processing; Manipulators; Pneumatic systems; Prototypes; Central nervous system; Continuum Robot; Muscular hydrostat; PID controller; Shape memory alloys;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics and Applications (ICIEA), 2014 IEEE 9th Conference on

Conference_Location

Hangzhou

Print_ISBN

978-1-4799-4316-6

Type

conf

DOI

10.1109/ICIEA.2014.6931331

Filename

6931331