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

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Type Paper
Original languageEnglish
Number of pages6
Publication statusPublished - Jun 2014
EventThe 22nd Mediterranean Conference on Control & Automation (MED'14) - Palermo, Italy
Duration: 16 Jun 201419 Jun 2014


ConferenceThe 22nd Mediterranean Conference on Control & Automation (MED'14)
Abbreviated titleMED'14
Period16 Jun 201419 Jun 2014
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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