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...
|Journal Title:||Journal of Intelligent Material Systems and Structures Vol. 17; no. 5; pp. 381 - 392|
|Authors:||Hashem Ashrafiuon, M. Eshraghi, M.H. Elahinia|