Fuzzy Control for SMA Wire-Driven Robotic Mechanisms

• Main Authors: Hung-Wei Hwang, 黃宏偉
• Other Authors: 李志中
• Format: Others
• Language: zh-TW
• Published: 2009
• Online Access: http://ndltd.ncl.edu.tw/handle/09089599822593328904

碩士 === 國立臺灣大學 === 機械工程學研究所 === 97 === The purpose of this thesis is to investigate the fuzzy control of a two-degree-of freedom tendon-driven robotic mechanism. In this work, shape memory alloy(SMA) wires are used as a driving tendons for the robotic mechanism. The fuzzy control method is applied for the control of such nonlinear system. For an n d.o.f. system with (n+1) driving tendons, antagnism effect always takes place in the system and results in feedback errors in the control loop. Therefore, the rule base of fuzzy controller is developed for solving such problem. A two-d.o.f. robotic mechanism is used for illustration. The experiment are then conducted and compared to the traditional PID controller. The results show that the fuzzy controller can be better than the PID controller over the step input and path tracking response.