Title :
Position control of a spherical joint using feedback linearization for SMA wire actuators
Author :
Guckert, Mark L. ; Naish, Michael D. ; Patel, Rajni V.
Author_Institution :
Lawson Health Res. Inst., Canadian Surg. Technol. & Adv. Robot. (CSTAR), London, ON, Canada
Abstract :
Shape memory alloys (SMAs) offer great potential as an actuation modality. They possess high power densities and are easily miniaturized. However, the use of SMAs has been limited by the fact that they are difficult to control. In this work, a model of SMA behavior is presented. An I/O linearizing controller is derived and a temperature observer is formulated using this model. The efficacy of this controller is then demonstrated for position control of a single degree of freedom (DOF) joint and a novel 3 DOF spherical joint that is suitable for small-scale robotic manipulators and wrists.
Keywords :
actuators; feedback; linearisation techniques; position control; shape memory effects; I/O linearizing controller; SMA wire actuator; actuation modality; feedback linearization; position control; shape memory alloy; spherical joint; temperature observer; Actuators; Cooling; Heating; Joints; Strain; Temperature measurement; Wire;
Conference_Titel :
Advanced Intelligent Mechatronics (AIM), 2010 IEEE/ASME International Conference on
Conference_Location :
Montreal, ON
Print_ISBN :
978-1-4244-8031-9
DOI :
10.1109/AIM.2010.5695840
