The cooperative control system of the robot finger using shape memory alloys and Electrical Motors

Mina Terauchi, Kouta Zenba, Akira Shimada

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

This paper introduces the mechanical structure and control technique of robot finger. The fingers has been developed as elements of the robot hand which has 20 joints and 16 degrees of freedom in order to express fingerspelling. The first joint is driven by the small DC servo motor and the second and the third joints are driven by shape memory alloy (SMA) wires. The hand system will consist of four parts of "hand mechanism", "drive device", "control unit" and "man machine interface". This paper introduces a finger control technique. In order to realize the cooperative smooth motion, the control system is designed based on an experimental result of system identification and the position trajectory refernce is designed considering time delay on the pair of SMA in our finger. Finally, we report the simulation and experimental control results to evaluate the presented control law.

Original languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
Pages733-737
Number of pages5
Volume1
DOIs
Publication statusPublished - 2008
Externally publishedYes
Event10th International Workshop on Advanced Motion Control, AMC'08 - Trento
Duration: 2008 Mar 262008 Mar 28

Other

Other10th International Workshop on Advanced Motion Control, AMC'08
CityTrento
Period08/3/2608/3/28

Fingerprint

Shape memory effect
Robots
Control systems
End effectors
Time delay
Identification (control systems)
Trajectories
Wire

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Computer Science Applications
  • Modelling and Simulation

Cite this

Terauchi, M., Zenba, K., & Shimada, A. (2008). The cooperative control system of the robot finger using shape memory alloys and Electrical Motors. In International Workshop on Advanced Motion Control, AMC (Vol. 1, pp. 733-737). [4516158] https://doi.org/10.1109/AMC.2008.4516158

The cooperative control system of the robot finger using shape memory alloys and Electrical Motors. / Terauchi, Mina; Zenba, Kouta; Shimada, Akira.

International Workshop on Advanced Motion Control, AMC. Vol. 1 2008. p. 733-737 4516158.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Terauchi, M, Zenba, K & Shimada, A 2008, The cooperative control system of the robot finger using shape memory alloys and Electrical Motors. in International Workshop on Advanced Motion Control, AMC. vol. 1, 4516158, pp. 733-737, 10th International Workshop on Advanced Motion Control, AMC'08, Trento, 08/3/26. https://doi.org/10.1109/AMC.2008.4516158
Terauchi M, Zenba K, Shimada A. The cooperative control system of the robot finger using shape memory alloys and Electrical Motors. In International Workshop on Advanced Motion Control, AMC. Vol. 1. 2008. p. 733-737. 4516158 https://doi.org/10.1109/AMC.2008.4516158
Terauchi, Mina ; Zenba, Kouta ; Shimada, Akira. / The cooperative control system of the robot finger using shape memory alloys and Electrical Motors. International Workshop on Advanced Motion Control, AMC. Vol. 1 2008. pp. 733-737
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