H∞ 제어기법을 적용한 소형 SMA 그립퍼의 힘추적제어

초록

This paper presents a robust force tracking control of a small-sized SMA gripper with two fingers using shape memory alloy actuators. The governing equation of motion is derived by considering actuator dynamics and then expressed in a form of transfer function. A robust two dof controller using H-infinity control theory is adopted to achieve end-point force tracking control of the two-finger gripper. Force tracking control performances for desired trajectories represented by sinusoidal and step functions are evaluated by undertaking both simulation and experimental works.