Motion control of tendon-driven rotary actuator using Twist Drive system

Uozumi, Seiji; Yu, Koyo; Yoshimura, Nobuto; Ohnishi, Kouhei

doi:10.1109/amc.2014.6823327

Cited by 5 publications

(2 citation statements)

References 18 publications

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“…Several control methods devoted to the control of TSA exist, [23,18,31,38]. However, some are focused on the combination of two motors and tendons to solve the well-known issue of unidirectionality (specific to TSAs) [38], whereas others address the mechanical compensation of for different values of K AW . K Lim is obtained from expression (34) the nonlinear relationship between linear displacement and angular displacement [18].…”

Section: Performance Comparison With Alternative Algorithmsmentioning

confidence: 99%

“…The mathematical (kinetostatic) models of a twisted string transmission system presented in [7,23], showed that there is a variable transmission relation between the angular position of the motor and the contraction produced in the longitudinal axis of the actuator. There are some mechanical solutions for linearizing the input-output relationship of the system [20,18]; however, optimal control of the TSA while producing stable behavior is still an important topic under study [23,24,33,16,31,38] due to several challenges.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

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

Rodriguez

Hosseini

Paik

2021

IEEE/ASME Trans. Mechatron.

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We propose a new control approach for the twisted string actuation (TSA) 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 work in the broader context of control of twisted string actuators.

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