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

Mina Terauchi, Kouta Zenba, Akira Shimada

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルAMC'08 - 10th International Workshop on Advanced Motion Control, Proceedings
ページ733-737
ページ数5
DOI
出版ステータスPublished - 2008 12 1
外部発表はい
イベント10th International Workshop on Advanced Motion Control, AMC'08 - Trento, Italy
継続期間: 2008 3 262008 3 28

出版物シリーズ

名前International Workshop on Advanced Motion Control, AMC
1

Conference

Conference10th International Workshop on Advanced Motion Control, AMC'08
CountryItaly
CityTrento
Period08/3/2608/3/28

ASJC Scopus subject areas

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

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