Conventional control and fuzzy control algorithms for shape memory alloy based tendons robotic structure

摘要

Abstract:- Shape memory alloy offer an interesting solution, using the shape transformation of the wire/structure in the moment of applying a thermal type transformation able to offer the martensitic temperature. This thermal transformation can be inducted using electrical current and a suitable control strategy. In order to assure an efficient control of robotics SMA actuator, a mathematical model and numerical simulation of the resulting model is required. For an efficient study a Simulink block is developed (block for user configurable shape memory alloy material). Due a particular possibility SMA actuator connection, a modified dynamics for wire or tendon actuation is presented. The control possibilities are explored: PI, PD,PID and fuzzy logic controller are connected to the single link SMA actuation. Experimental results and numerical simulations are presented and observations are formulated. Key-Words:- smart materials, shape memory alloy, robotics, conventional control, fuzzy logic, numerical simulation 1