Control of Manipulator by using Shape Memory Alloy Actuator Position Control by the LQI Control Method (The 1st report)

Abstract

In this paper, a position control for manipulator which utilizes shape memory alloy (SMA) actuator is proposed. The actuator is made by pair of SMA wires with rivalry, and wires are heated by an electric current. The control method is used a software control system for linear quadratic optimal control with I-action (LQI control). The stability of the control method was verified by the experiment.