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Position control of an experimental robotic arm driven by artificial muscles based on shape memory alloys |
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| Authors: | Cedric Cocaud Aaron Price Amor Jnifene Hani Naguib |
| Affiliation: | (1) Mechanical Engineering, University of Ottawa, Ottawa, ON, Canada;(2) Mechanical Engineering, Royal Military College of Canada, Station Forces, PO Box 17000, Kingston, ON, Canada, K7K 7B4;(3) Mechanical Engineering, University of Toronto, Toronto, ON, Canada |
| Abstract: | This paper presents a study on the potential application of artificial muscles based on shape memory alloys as linear robotic actuators. An extended discussion on various control techniques and ways of biologically inspired muscle arrangements is presented. A two DOF experimental robotic arm was built and used to test the performance of the proposed artificial muscle configurations, and a biologically inspired control strategy using a rule-base concept was developed and tested using the two DOF experimental robotic arm. |
| Keywords: | Shape memory alloys Artificial muscles Rule-based control Robotic arm |
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