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The Transverse Function (TF) approach is applied to the tracking control problem for a nonholonomic three-segments/snake-like wheeled mechanism similar to a planar low-dimensional version of Hirose's Active Cord Mechanism (ACM). Unlike earlier studies devoted to this type of serpentine mechanism and based on the computation and sequential application of a discrete number of open-loop control primitives,...
Shape memory alloy (SMA) composites offer a great potential as actuators because of its excellent power to weight ratio, smooth motion and silent actuation. However, SMA actuated robotic manipulator systems have severe hysteresis, system nonlinearities, model and parametric uncertainties those are often responsible for position inaccuracy in a regulation or tracking system. A simple and upstanding...
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