TY - GEN
T1 - A visual-servoing system for a humanlike shape memory alloy actuated finger
AU - Andrianesis, Konstantinos
AU - Tzes, Anthony
AU - Kolyvas, Efthymios
AU - Koveos, Yannis
PY - 2007
Y1 - 2007
N2 - The control of robotic systems actuated by Shape Memory Alloy (SMA) wires is still an open issue. The goal of this work focuses on the development of a competent control system for a humanlike, 2-DOF, SMA actuated finger. We pursue this objective through a visual-servoing scheme and the implementation of classical decoupled PID controllers for the joint angles. Experimental results prove the efficacy and usability of the suggested scheme.
AB - The control of robotic systems actuated by Shape Memory Alloy (SMA) wires is still an open issue. The goal of this work focuses on the development of a competent control system for a humanlike, 2-DOF, SMA actuated finger. We pursue this objective through a visual-servoing scheme and the implementation of classical decoupled PID controllers for the joint angles. Experimental results prove the efficacy and usability of the suggested scheme.
UR - http://www.scopus.com/inward/record.url?scp=47849100999&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=47849100999&partnerID=8YFLogxK
U2 - 10.1109/EFTA.2007.4416951
DO - 10.1109/EFTA.2007.4416951
M3 - Conference contribution
AN - SCOPUS:47849100999
SN - 1424408261
SN - 9781424408269
T3 - IEEE International Conference on Emerging Technologies and Factory Automation, ETFA
SP - 1417
EP - 1420
BT - 12th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2007 Proceedings
T2 - 12th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2007
Y2 - 25 September 2007 through 28 September 2007
ER -