Experimental design, development and visual-servoing of a shape memory alloy actuated finger

Efthymios Kolyvas, George Nikolakopoulos, Yannis Koveos, Anthony Tzes

Research output: Contribution to conferencePaper

Abstract

In this paper an experimental study on the design, development and visual-servoing of a Shape Memory Alloy (SMA) actuated finger is presented. The SMA have been utilized as tendons for the production of a satisfactory, in terms of workspace and actuation times, human-like actuated finger. This manipulator has two rotational degrees of freedom and its main objective is to control the position of the end-tip. The special characteristics and properties of the SMA have been taken under consideration and all inherent non-linearities and saturations have been embedded in the development modelling and control application. Decoupled PD-controllers provide the command input, while the sensory information is provided through a monoscopic vision system. This visual-servoing scheme drives the manipulator's tip at specified trajectory positions. The final construction is a lightweight, compact device, while the experimental results prove the efficacy and the usability of the overall design and implementation process.

Original languageEnglish (US)
Pages1448-1452
Number of pages5
StatePublished - 2004
Event2004 IEEE International Conference on Industrial Technology, ICIT - Hammamet, Tunisia
Duration: Dec 8 2004Dec 10 2004

Other

Other2004 IEEE International Conference on Industrial Technology, ICIT
CountryTunisia
CityHammamet
Period12/8/0412/10/04

Keywords

  • Image Processing
  • Robotic manipulator
  • Shape Memory Alloy

ASJC Scopus subject areas

  • Computer Science Applications
  • Electrical and Electronic Engineering

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