AUTO-ADAPTIVE CONTROL OF A ONE-JOINT ARM DIRECT DRIVEN BY ANTAGONISTIC SHAPE MEMORY ALLOY

摘要

This paper pursues a promising approach to obtain strain feedback based angularmotion control of a manipulator for any robotic application. The proposed single degree of freedommanipulator uses antagonistic shape memory alloy (SMA) actuated wires. Antagonistic SMAactuated structures employ opposing pairs of one-way SMA actuators to create systems capable of afully reversible response. A self-tuning PID type fuzzy (auto adaptive) based control scheme isdesigned and implemented experimentally. The controller is designed based on the model estimatedby using system identification technique. Experimental and simulation results show thatantagonistic SMA actuator in combination with the controller can track any input trajectory signalwith high accuracy motion control and is suitable for various control applications.