Neuralnetwork based control of SMA actuator for the active catheter

• 영문명: Neuralnetwork based control of SMA actuator for the active catheter
• 발행기관: 한국과학기술원 인간친화 복지 로봇 시스템 연구센터
• 저자명: Hyo Jik Lee Jung Ju Lee Dong Soo Kwon Yong San Yoon
• 간행물 정보: 『International Journal of Assistive Robotics and Mechatronics』Journal of HWRS-ERC Vol.2 No.2, 40~45쪽, 전체 6쪽
• 주제분류: 공학 > 제어계측공학
• 파일형태: PDF
• 발행일자: 2001.07.01

영문 초록

  In this paper, the dynamics model of the SMA actuator which was used for the control of bending the angle of a catheter tip was studied. It was shown analytically that the bending angle control of the active catheter was possible by using the resistance feedback control of SMA actuator. Also, we proved the resistance feedback control was possible experimentally but the precise control is somewhat difficult to achieve. This resistance control strategy is quite advantageous to the space limited structure like the active catheter. For the nonlinear implicit SMA actuator, we conducted the neural network based control system design and compared it with a conventional PID controller.

목차

Abstract
Ⅰ. INTRODUCTION
Ⅱ. STRUCTURE OF THE ACTIVE CATHETERS
Ⅲ. DYNAMICS MODEL OF SMA ACTUATOR
Ⅳ. EXPERIMENTAL VERIFICATION
Ⅴ. CONCLUSION
ACKNOWLEDGMENT
REFERENCES

키워드

active catheter SMA actuator neural network control resistance feedback