Mathematical model and conventional control for a shape memory alloy tendon actuated tentacle robot

The paper presents a tentacle robotic structure shape memory alloy (SMA) tendon actuated. The tentacle robotic single unit contains 4 SMA actuators and a spherical articulation. In order to assure a high efficient robotic architecture, the mechanical and the control structure have to assure a real-time response to the work environment changes. The paper is divided into four sections. First section makes a short introduction in the physical description and conventional applications of shape memory alloy materials. In the second part a mathematical model for a single robotic unit is presented. The third section tackles the conventional control structures applied to the robotic unit. An experimental platform was developed and real responses of the structure to the disturbances are explored. Using Matlab/Simulink and a modified Quanser platform the experimental results are investigated in order to highlight the advantages and disadvantages of each conventional controller. The last section presents a generalised mathematical model for tentacle robotic structure