Design and Development of Peristaltic Soft Robot Using Shape Memory Alloy Actuators with different control strategies

3rd International Conference on Materials and Manufacturing Engineering 2018

Patil, Rohit^1 ; Patra, Nandini^2 ; Sharma, Abhinav^2 ; Kavitha, P.^1 ; Apalani, I.^2

Control and Automation Department, VIT University, Vellore, Tamil Nadu, India^1

Metallurgy Engineering and Materials Science, IIT Indore, Indore, India^2

关键词: Controller response;    Controlling methods;    Design and Development;    Optimal control strategy;    Real time controllers;    Robotics applications;    Shape memory alloy actuators;    Thermally activated;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/390/1/012044/pdf
DOI  :  10.1088/1757-899X/390/1/012044

来源: IOP

【 摘 要 】

This paper presents design, development and different optimal control strategies for a spiral, shape memory alloy (SMA) actuators for robotics applications. The actuator material used is thermally activated Ni-Ti SMA which exhibits high torque capacity. SMA based actuators are widely used in robotics applications because of their large energy density and super-elasticity. Here describe the multi-direction movement of soft robot based on SMA actuators. To controlling precise position in minimum time for SMA actuator suitable controller require. Here we investigated the different ideal controlling method for design soft robot model. The Control strategies for soft robot developed using Matlab Simulink; here we investigate P, PI, PD and PID types of controller. For real-time controller implementation we compare the controller responses with respect to the desired set point of operating robot. Thus, we can identify the PID controller is suitable for real-time designing the soft robot model depending upon different controlling responses and least 3.47 integrate absolute error (IAE) and 2.119 integrate square error (ISE).