Publication detail

MODELING OF NONLINEARITIES IN ACTUATORS FOR ROBOTICS

VAŠINA, M., ŠOLC, F.

Original Title

MODELING OF NONLINEARITIES IN ACTUATORS FOR ROBOTICS

Type

conference paper

Language

English

Original Abstract

There is an effort to use unconventional actuators robotics more often now. Epitomes of these actuators are alloys with shape memory (SMA-Shape Memory Alloy). The efficient control of actuators based on shape memory principle is immediately related to results given by modeling in combination with practical experiments. The properties of SMA classified these actuators to category of non-linear system. This article deals with potential approaches to modeling of SMA. There are introduced examples of designed models and control. The article also presents the results of practical measurement performed in Department of Control and Measurement at Brno University of Technology and a description of robot actuated by SMA. Design of SMA actuator and comparison with classical actuator is discussed in the last part of this article.

Key words in English

hysteresis, modeling, SME, SMA

Authors

VAŠINA, M., ŠOLC, F.

RIV year

2004

Released

1. 1. 2004

Publisher

FEKT VUT BRNO

Location

Brno

ISBN

80-214-2636-5

Book

STUDENT EEICT 2004

Pages from

403

Pages to

406

Pages count

4

BibTex

@inproceedings{BUT11370,
  author="Michal {Vašina} and František {Šolc}",
  title="MODELING OF NONLINEARITIES IN ACTUATORS FOR ROBOTICS",
  booktitle="STUDENT EEICT 2004",
  year="2004",
  pages="4",
  publisher="FEKT VUT BRNO",
  address="Brno",
  isbn="80-214-2636-5"
}