Optimization of fuzzy controller for an SMA-actuated artificial finger robot

Document Type: Research Paper

Authors

1 Azad Ghazvin University

2 Department of Mechanical Engineering, Pardis Branch, Islamic Azad University, Tehran, Iran.

Abstract

The purpose of this paper is to design and optimize an intelligent fuzzy-logic controller for a three-degree of freedom (3DOF) artificial finger with shape-memory alloy (SMA) wire actuators. The robotic finger is constructed using three SMA wires as tendons to bend each phalanx of the finger around its revolute joint and three torsion springs which return the phalanxes to their original positions. A PID controller is designed to control the rotation of each phalanx. The gains of the controller are defined and optimized using the genetic algorithm. Finally, a fuzzy PID controller is presented to improve the performance of the system. The performance of the designed controller to achieve the desired output is simulated and also tested. The rotation of each link of both prototype robot and simulated model is measured. The experimental results show that the fuzzy controller can reach the desired angle in less time and the output signal is uniform. Moreover, the simulation results indicate that the closed-loop control system of the simulated robot is in good agreement with the prototype robot.

Keywords

Main Subjects


[1] Kheirikhah, M.M., Rabiee, S., and Edalat, M.E., "A Review of Shape Memory Alloy Actuators in Robotics", David Hutchison, Lecture Notes in Computer Science, Springer-Verlag, Berlin, Vol. 6556, pp. 206-217, (2011).

 

[2] DeLaurentis, K.J., and Mavroidis, C., "Development of a Shape Memory Alloy Actuated Robotic Hand", Proceeding of the ACTUATOR 2000 Conference, Bremen, Germany, pp. 281-284, (2000).

 

[3] Kathryn, J., Laurentis, D., and Mavroidis, C., "Mechanical Design of a Shape Memory Alloy Actuated Prosthetic Hand", Technology and Health Care, Vol. 10, No. 2, pp. 91–106, (2002).

 

[4] Hino, T., and Maeno, T., "Development of a Miniature Robot Finger with a Variable Stiffness Mechanism using Shape Memory Alloy", International Symposium on Robotics and Automation, México, (2004).

 

[5] Ashrafiuon, H., Eshraghi, M., and Elahinia, M.H., "Position Control of a Three Link Shape Memory Alloy Actuated Robot", Journal of Intelligent Material Systems and Structures, Vol. 17, pp. 381-392, (2006).

 

[6] O’Toole, K.T., and McGrath, M.M., "Mechanical Design and Theoretical Analysis of a Four Fingered Prosthetic Hand Incorporating Embedded SMA Bundle Actuators”, Proceedings of World Academy of Science Engineering and Technology, Vol. 25, pp. 142-149, (2007).

 

[7] Bundhoo, V., Haslam, E., Birch, B., and Park, E.J., "A Shape Memory Alloy Based Tendon-driven Actuation System for Biomimetic Artificial Fingers", Part I: Design and Evaluation, Robotica, Vol. 27, No. 1, pp. 131-146, (2009).

 

[8] Ahn, K.K., and Nguyen, B.K., "Position Control of Shape Memory Alloy Actuators using Self Tuning Fuzzy PID Controller", International Journal of Control, Automation and Systems, Vol. 4, pp. 756-762, (2006).

 

[9] Ahn, K.K., and Kha, N.B., "Modeling and Control of Shape Memory Alloy Actuators using Preisach Model Genetic Algorithm and Fuzzy Logic", Mechatronics, Vol. 18, pp. 141-152, (2008).

 

 [10] Bizdoaca, N., Hamdan, H., and Selisteanu, D., "Fuzzy Logic Controller for a Shape Memory Alloy Tentacle Robotic Structure", Proceedings of the “IEEE Conference on Information and Communication Technologies: from Theory to Application”, Damascus, Syria, pp. 1688-1693, (2006).

 

[11] Nicu-George, B., Anca, P., and Elvira, B., "Conventional Control and Fuzzy Control Algorithms for Shape Memory Alloy Based Tendons Robotic Structure”, Wseas Trans. Systems and Control, Vol. 3, No. 2, pp. 113-124, (2008).

 

[12] Kheirikhah, M. M., Khodayari, A. R., and Tatlari, M., "Design a New Model for Artificial Finger by using SMA Actuators, IEEE International Conference on Robotics and Biomimetics (ROBIO2010), China, pp. 1590-1595, (2010).

 [13] Kheirikhah, M. M., Khodayari, A. R., and Tatlari, M., "Design and Construction an Artificial Finger Based on SMA Actuators", Indian J. Science and Technology, Vol. 6, No. 1, pp. 3841-3848, (2013).

 

[14] Kaplanoglu, E., "Design of Shape Memory Alloy-based and Tendon-driven Actuated Fingers towards a Hybrid Anthropomorphic Prosthetic Hand", International Journal of Advanced Robotic Systems, Vol. 9, pp. 77-83, (2012).

 

[15] Gao, F., Deng, H., and Zhang, Y., "Hybrid Actuator Combining Shape Memory Alloy with DC Motor for Prosthetic Fingers", Sensors and Actuators A: Physical, Vol. 223, pp. 40–48, (2015)

 

[16] Lange, G., Lachmann, A., Abdul Rahim, A., Ismail, M. H., and Low, C. Y., "Shape Memory Alloys as Linear Drives in Robot Hand Actuation", Procedia Computer Science, Vol. 76, pp. 168–173, (2015).

 

[17] Larimi, S. R., Nejad, H. R., Hoorfar, M., and Najjaran, H., "Control of Artificial Human Finger using Wearable Device and Adaptive Network-based Fuzzy Inference System", In  IEEE International Conference on Systems, Man, and Cybernetics (SMC), 003754-003758, Budapest, Hungary, (2016).

 

[18] Zhao, L., Ge, L., and Wang, T., "Position Control for a Two-joint Robot Finger System Driven by Pneumatic Artificial Muscles", Transactions of the Institute of Measurement and Control, Vol. 40, No. 4, pp. 1328-1339, (2018).

 

[19] Li, J., Zhong, G., Yin, H., He, M., Tan, Y., and Li, Z., "Position Control of a Robot Finger with Variable Stiffness Actuated by Shape Memory Alloy", In IEEE International Conference on Robotics and Automation (ICRA), pp. 4941-4946, (2017)

 

[20] Thoresen, A., "Artificial Finger Control-Inverse Kinematics in Soft Robotics", (Master's thesis), University of Oslo, (2019).

 

[21] Mirzakhani, F., Ayati, S. M., Fahimi, P., and Baghani, M., "Online Force Control of a Shape-memory-alloy-based 2 Degree-of-freedom Human Finger Via Inverse Model and Proportional–integral–derivative Compensator", Journal of Intelligent Material Systems and Structures, Vol. 30, No. 10, pp. 1538-1548, (2019).

 

[22] Elahania, M., and Ashrafiuon, H., "Nonlinear Control of a Shape Memory Alloy Actuated Manipulator, Trans. ASME. J. Vibe., Vol. 124, pp. 566–575, (2002).

 

[23] Liang, C., and Rogers, C.A., "Design of Shape Memory Alloy Actuators for Robotics, Proc. of the 4th ASME International Symposium on Robotics and Manufacturing, Santa Fe, New Mexico, Mexico, (1992).

 

[24] DYNALLOY data Sheet of muscle wires, DYNALLOY Inc. 14762 Bentley circle, Tustin, CA, USA, from: www.musclewires.com, (2016).

 

[25] Espinosa, J., Vandewalle, J., and Wertz, V., "Fuzzy Logic, Identification and Predictive Control, Springer-Verlag, London, (2005).

 

[26] Davis, L., "Handbook of Genetic Algorithms", VNR Comp. Library, (1990).