TY - GEN
T1 - The cooperative control system of the robot finger using shape memory alloys and Electrical Motors
AU - Terauchi, Mina
AU - Zenba, Kouta
AU - Shimada, Akira
PY - 2008/12/1
Y1 - 2008/12/1
N2 - 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.
AB - 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.
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U2 - 10.1109/AMC.2008.4516158
DO - 10.1109/AMC.2008.4516158
M3 - Conference contribution
AN - SCOPUS:77951077694
SN - 9781424417032
T3 - International Workshop on Advanced Motion Control, AMC
SP - 733
EP - 737
BT - AMC'08 - 10th International Workshop on Advanced Motion Control, Proceedings
T2 - 10th International Workshop on Advanced Motion Control, AMC'08
Y2 - 26 March 2008 through 28 March 2008
ER -