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In this paper an experimental study on the design, development and visual-servoing of a shape memory alloy (SMA) actuated finger is presented. The SMA have been utilized as tendons for the production of a satisfactory, in terms of workspace and actuation times, human-like actuated finger. This manipulator has two rotational degrees of freedom and its main objective is to control the position of the end-tip. The special characteristics and properties of the SMA have been taken under consideration and all inherent non-linearities and saturations have been embedded in the development modelling and control application. Decoupled PD-controllers provide the command input, while the sensory information is provided through a monoscopic vision system. This visual-servoing scheme drives the manipulator's tip at specified trajectory positions. The final construction is a lightweight, compact device, while the experimental results prove the efficacy and the usability of the overall design and implementation process.
Industrial Technology, 2004. IEEE ICIT '04. 2004 IEEE International Conference on (Volume:3 )
Date of Conference: 8-10 Dec. 2004