Position control of a Three-Link Shape Memory Alloy Actuated Arm

A simple and robust position controller is proposed for a small planar three- degree-of-freedom robot arm actuated by two shape memory alloy (SMA) actuators and a servomotor. A simple model of the robot is used for controller development. The model combines robot kinematics and dynamics with crude m...

Full description

Journal Title: Journal of Intelligent Material Systems and Structures Vol. 17; no. 5; pp. 381 - 392
Authors: Hashem Ashrafiuon, M. Eshraghi, M.H. Elahinia
Format: Article
Published: 05/01/2006