| Autor: |
Simeon Nedelchev, Igor Gaponov, Oleg Balakhnov |
| Rok vydání: |
2020 |
| Předmět: |
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| Zdroj: |
2020 International Conference Nonlinearity, Information and Robotics (NIR). |
| DOI: |
10.1109/nir50484.2020.9290167 |
| Popis: |
In this work, we propose a model predictive controller (MPC) for simultaneous position and tension tracking in twisted string actuator-based antagonistic joints. The proposed controller takes into account unidirectional nature of the cables and minimize trajectory tracking error as well as control effort. The approach has been evaluated numerically in a series of simulations that demonstrated its feasibility and highlighted its advantage over the unconstrained controller, with position tracking accuracy improved by a factor of 10. The proposed MPC can be generalized and serve as the starting point for antagonistic control in multiple-degree-of-freedom systems based on twisted string actuators. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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