Fuzzy Control for Shape Memory Alloy Tendon Actuated Robotic Structure
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چکیده
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. In order to assure an efficient control of SMA actuator applied to inverted pendulum, a mathematical model and numerical simulation of the resulting model is required. Due a particular possibility SMA actuator connection, a modified dynamics for wire or tendon actuation is presented. For an efficient study a Simulink block set is developed (block for user configurable shape memory alloy material, configurable block for dynamics of single link robotic structure, block for user configurable wire/tendon actuation). As conventional control possibilities were explored, the fuzzy control structure applied in this paper, offer an improved response. A more compact SMA actuation is proposed and experimented. The results are commented. Key-Words: robotics, shape memory alloy applications, serial link, fuzzy controller
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