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 language | English (US) |
|---|---|
| Pages | 1448-1452 |
| Number of pages | 5 |
| State | Published - 2004 |
| Event | 2004 IEEE International Conference on Industrial Technology, ICIT - Hammamet, Tunisia Duration: Dec 8 2004 → Dec 10 2004 |
Other
| Other | 2004 IEEE International Conference on Industrial Technology, ICIT |
|---|---|
| Country/Territory | Tunisia |
| City | Hammamet |
| Period | 12/8/04 → 12/10/04 |
Keywords
- Image Processing
- Robotic manipulator
- Shape Memory Alloy
ASJC Scopus subject areas
- Computer Science Applications
- Electrical and Electronic Engineering