A Closed-Loop Position Control Scheme for SMA-Actuated Joints

Theodoros Evdaimon, Michael Sfakiotakis, Dimitris Tsakiris

Allbwn ymchwil: Cyfraniad at gynhadleddPapuradolygiad gan gymheiriaid

1 Dyfyniadau(SciVal)

Crynodeb

We present the design and implementation of a closed-loop control scheme for revolute joints actuated by SMA spring actuators in an antagonistic configuration. The proposed scheme employs a feedforward term, obtained as the inverse of the modified Prandtl-Ishlinskii (MPI) model of the system's response, in conjunction with angular position feedback from a joint potentiometer, to compensate for the hysteresis and asymmetries, and achieve fast and effective tracking of a reference angular position. Experimental results indicate the efficacy of the proposed scheme, and a series of prototypes demonstrate its applicability in the development of small-scale SMA-actuated robots
Iaith wreiddiolSaesneg
Tudalennau1527-1532
Nifer y tudalennau6
Dynodwyr Gwrthrych Digidol (DOIs)
StatwsCyhoeddwyd - Meh 2014
DigwyddiadThe 22nd Mediterranean Conference on Control & Automation (MED'14) - Palermo, Yr Eidal
Hyd: 16 Meh 201419 Meh 2014

Cynhadledd

CynhadleddThe 22nd Mediterranean Conference on Control & Automation (MED'14)
Teitl crynoMED'14
Gwlad/TiriogaethYr Eidal
DinasPalermo
Cyfnod16 Meh 201419 Meh 2014

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