Abstract
SMA actuators have light-weight and big power, and especially their powers and strengths of thickened it are increased and then Self-sensing control become more difficult by their electric resistance decreased. SMA actuators have big force to weight ratio. When it is heated and the temperature reaches the transformation point, the phase changes from martensite to austenite and the length and the electric resistance decreases. We can control the displacement of SMA by managing the electric resistance. Thicker SMA has smaller electric resistance, so the control is more difficult. We try to establish accurate control of the thick SMA actuator and application it to mobile robots.
