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

Theodoros Evdaimon; Michael Sfakiotakis; Dimitris Tsakiris

doi:10.1109/MED.2014.6961592

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

Theodoros Evdaimon, Michael Sfakiotakis, Dimitris Tsakiris

Department of Computer Science

Research output: Contribution to conference › Paper › peer-review

1 Citation (Scopus)

Abstract

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

Original language	English
Pages	1527-1532
Number of pages	6
DOIs	https://doi.org/10.1109/MED.2014.6961592
Publication status	Published - Jun 2014
Event	The 22nd Mediterranean Conference on Control & Automation (MED'14) - Palermo, Italy Duration: 16 Jun 2014 → 19 Jun 2014

Conference

Conference	The 22nd Mediterranean Conference on Control & Automation (MED'14)
Abbreviated title	MED'14
Country/Territory	Italy
City	Palermo
Period	16 Jun 2014 → 19 Jun 2014

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abstract = "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",

author = "Theodoros Evdaimon and Michael Sfakiotakis and Dimitris Tsakiris",

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AU - Evdaimon, Theodoros

AU - Sfakiotakis, Michael

AU - Tsakiris, Dimitris

PY - 2014/6

Y1 - 2014/6

N2 - 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

AB - 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

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DO - 10.1109/MED.2014.6961592

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T2 - The 22nd Mediterranean Conference on Control & Automation (MED'14)

Y2 - 16 June 2014 through 19 June 2014

ER -

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

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