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Control of A Shape Memory Alloy Driven Robot Hand
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| Author(s) |
P. Zsiros; P. Korondi; A. Huba; P. Baranyi |
| Abstract |
This paper deals with a humanoid hand moved by artificial muscles, which can be used as a slave device of a telemanipulation system. The main contribution is a practical application of generalised neural networks for a dextrous hand moved by Shape Memory Alloys (SMA). Since SMA have highly non-linear characteristics and their parameters depend on the environment (mainly on temperature) so the robot hand is controlled by a generalised neural network, which can learn the actual non-linear characteristics of the robot hand. The experimental setup consists of a 20 degree of freedom hand moved by SMA string used as artificial muscle. |
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| Filename: | EPE-PEMC2002 - T9-057 - Zsiros.pdf |
| Filesize: | 511.7 KB |
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| Type |
Members Only |
| Date |
Last modified 2004-05-25 by System |
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