Compensation for cross-coupled dynamics of dual twisted-string actuation systems

DOI10.1155/2016/5864918MaRDI QIDQ1788518zbMATH OpenOpenAlexWikidataFDO

Authors Lei Jiang, Yuejuan Li, Marvin H. Cheng

Publication date 8 October 2018

Published in Journal of Control Science and Engineering (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://doi.org/10.1155/2016/5864918

zbMATH Keywords

cross-coupled dynamicsdual twisted-string actuation systemsrobotic systemssynchronizationtracking

Mathematics Subject Classification ID

Artificial intelligence for robotics (68T40) Synthesis problems (93B50) Automated systems (robots, etc.) in control theory (93C85)

Review text

Summary: Twisted-string actuation devices have been adopted in various robotic systems due to their advantages of compact size and simple structure. To precisely control the displacement of such devices, a dual-direction actuating mechanism, which provides both extension and contraction of two strings simultaneously, must be implemented. Due to the physical properties of twisted strings, the actuator has problems of nonlinear length variation and cross-coupled relationships between two strings. In this study, two controllers (PID-FC and LQR-FC) were synthesized with the consideration of cross-coupling dynamics between the two axes. The experimental results demonstrate the performance of both tracking and synchronization responses of these two types of controllers.

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Cites work

• Cross-Coupled Biaxial Computer Control for Manufacturing Systems
• Optimal sampled-data control systems
• Synchronization of Two Motion Control Axes Under Adaptive Feedforward Control

Cited in

(2)

• Modeling of linear displacement and design of adaptive robust controller
• Modeling and control of twisted and coiled artificial muscles for soft robotics

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