Hybrid Control Strategy for Force and Precise End Effector Positioning of a Twisted String Actuator

Autor:	Mohssen Hosseini, Andres San-Millan Rodriguez, Jamie Paik
Rok vydání:	2021
Předmět:	Coupling Angular displacement Computer science Context (language use) Robot end effector DC motor Computer Science Applications law.invention Computer Science::Robotics Control and Systems Engineering Control theory law Control system Torque Electrical and Electronic Engineering Actuator
Zdroj:	IEEE/ASME Transactions on Mechatronics. 26:2791-2802
ISSN:	1941-014X 1083-4435
DOI:	10.1109/tmech.2020.3047157
Popis:	In this article, we propose a new control approach for the twisted string actuation system; a hybrid control scheme consisting of two nested loops, considering the motor angle and the axial force at the clamping point of the actuator as the system outputs. We show that measuring the axial force at the base of the actuator, we can effectively estimate and compensate the coupling torque between the motor and the external load. Then, compensation of the coupling torque allows formulating a linear control law to control the angular position of the actuator and, at the same time, implement an external control loop to regulate the force applied by the actuator. Simulated and experimental results validate the proposed original control scheme. Furthermore, we highlight the contributions of this article in the broader context of control of twisted string actuators.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::e020f61121729e2002fb596cd9fb7854 https://doi.org/10.1109/tmech.2020.3047157 Zobrazit plný text záznamu