The control of smart material based actuators for industrial robots

摘要

This paper describes the use of smart materials and adaptronic control concepts in small size robots. Small size in this specific research means that robot hand have the span from several centimeters to some tens of centimeters. The possibility of building robot mechanics using different kind of smart materials are analyzed. There is no target to build the specific robot, but the possible solutions are analyzed. The control method for SMA (Shape Memory Alloy) actuator is proposed. The method for estimating temperature inside the SMA sample is described. The experimental setup is built up and the test measurements are made. The dynamics of control and the energy consumption of proposed control method are analyzed.