A visual-servoing system for a humanlike shape memory alloy actuated finger

Konstantinos Andrianesis, Anthony Tzes, Efthymios Kolyvas, Yannis Koveos

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish (US)
Title of host publication12th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2007 Proceedings
Pages1417-1420
Number of pages4
DOIs
StatePublished - 2007
Event12th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2007 - Patras, Greece
Duration: Sep 25 2007Sep 28 2007

Publication series

NameIEEE International Conference on Emerging Technologies and Factory Automation, ETFA

Other

Other12th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2007
CountryGreece
CityPatras
Period9/25/079/28/07

ASJC Scopus subject areas

  • Engineering(all)

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    Andrianesis, K., Tzes, A., Kolyvas, E., & Koveos, Y. (2007). A visual-servoing system for a humanlike shape memory alloy actuated finger. In 12th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2007 Proceedings (pp. 1417-1420). [4416951] (IEEE International Conference on Emerging Technologies and Factory Automation, ETFA). https://doi.org/10.1109/EFTA.2007.4416951