Monday, December 26, 2011

Sliding mode control of robotic finger and control of SMA

Posted by Unknown at 9:22 PM 0 Comments


This thesis is focused on the control and modeling of a robots finger. The control target of this project is position tracking during the finger motion. A new sliding mode control algorithm is developed in this project. It originates from the author’s 3-stages approach. i.e. the reaching phase, the sliding mode and the steady state. This approach is mainly based on two key idea, as follows: (i) During the reaching phase, the speed of reaching can be related to the distance between the state trajectory and the switching manifold, (ii) During the sliding motion, the state velocity is directly related to the state variable for 2nd-order non linear systems.
This new control algorithm is a functional relationship for the speed of reaching during the reaching phase. The simulation result demonstrates that this algorithm performs better than Gao and Hung’s “power rate” reaching law both in chattering reduction and reaching time. The above robot finger is developed via the transition from a biological model for the human thumb to a mechanical prototype. A main concern of the biological model is the relationships on the excursion of finger tendons. The newly developed relationships in this project involves the shape and size of the associated phalanx, as well as the pulley mechanism besides the angle of rotation. The treatment of these relationships in this thesis are more complete and applicable than the approach by Landsmeer. Landsmeer’s model involves only the angle of rotation.
Moreover, the mechanical prototype developed in this project retains anthropomorphic features of the human thumb. Such features include the quad-circles at the ends of each piece, and the very low friction in motion via artificial tendons. These properties are unique in the above robot finger compared to the work on robot hands by other research groups. In addition, SMA-wires are used as actuator for the above robot finger. A major problem of the SMA material is the “residue” stress. This is a defect since it prevents the wire from returning to the same position before re-activation in the next cycle. Hence a new approach: the “interval insertion” method has been developed in this project. Implementations show that this method really solves the above stated problem.
Author: Loh, Albert Ming
Source: City University of Hong Kong
Tags:

Share This Post

Get Updates

Subscribe to our Mailing List. We'll never share your Email address.

0 comments:

THANKS FOR UR COMMENT ....

Categories

Labels

AERONAUTICAL AEROSPACE AGRICULTURE ANDROID Android project titles Animation projects Artificial Intelligence AUTOMOBILE BANK JOBS BANK RECRUITMENTS BIG DATA PROJECT TITLES Bio instrumentation Project titles BIO signal Project titles BIO-TECHNOLOGY BIOINFORMATICS BIOMEDICAL Biometrics projects CAREER CAT 2014 Questions CHEMICAL CIVIL Civil projects cloud computing COMP- PROJ-DOWN COMPUTER SCIENCE PROJECT DOWNLOADS COMPUTER(CSE) CONFERENCE Data mining Projects Data protection. Design projects DIGITAL SIGNAL PROCESSING IEEE Project titles Dot net projects EBOOKS ELECTRICAL MINI PROJECTS ELECTRICAL PROJECTS DOWNLOADS ELECTRONICS MINI PROJECTS ELECTRONICS PROJECT DOWNLOADS EMG PROJECTS employment Engineering projects Exams Facts final year projects FOOD TECHNOLOGY FREE IEEE 2014 project Free IEEE Paper FREE IEEE PROJECTS GATE GAte scorecard GOVT JOBS Green projects GSM BASED Guest authors HIGHWAY IEEE 2014 projects ieee 2015 projects IEEE computer science projects IEEE Paper IEEE PAPER 2015 ieee project titles IEEE projects IEEE Transactions INDUSTRIAL INNOVATIVE PROJECTS INTERFACING IT IT LIST Java projects labview projects LATEST TECHNOLOGY list of project centers Low cost projects m.com MARINE Matlab codes MATLAB PROJECT TITLES MATLAB PROJECTS MBA MBA 2015 projects MCA MECHANICAL MECHANICAL PROJECTS DOWNLOAD MINI PROJECTS modelling projects MP3 MP3 cutter Mp4 Networking topics ns2 projects online jobs PETROCHEMICAL PHYSIOLOGICAL MODELLING projects physiotheraphy Projects Power electronics power system projects PRODUCTION project centers project downloads Prosthesis projects RAILWAY RECRUITMENT 2012 Recent RECENT TECHNOLOGY RECENT TECHNOLOGY LIST RECRUITMENT Rehabilitation projects renewable power respiration projects RESUME FORMAT. Ring Tone Cutter Robotics projects. Robots in medical social network jobs Solar projects Songs Cutter Speech-music separation-Abstract structural engineering TECHNOLOGY technology management TELE COMMUNICATION TEXTILE TOP ENGINEERING COLLEGES Training VLSI

Disclaimer

This blogs is an effort to club the scattered information about engineering and project titles and ideas available in the web. While every effort is made to ensure the accuracy of the information on this site, no liability is accepted for any consequences of using it. Most of the material and information are taken from other blogs and site with the help of search engines. If any posts here are hitting the copyrights of any publishers, kindly mail the details to educations360@gmail.com It will be removed immediately.

Alexa Rank

back to top