Compensation for Cross-Coupled Dynamics of Dual Twisted-String Actuation Systems
Joint Authors
Jiang, Lei
Li, Yuejuan
Cheng, Marvin H.
Source
Journal of Control Science and Engineering
Issue
Vol. 2016, Issue 2016 (31 Dec. 2016), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2016-03-21
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Electronic engineering
Information Technology and Computer Science
Abstract EN
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 string, 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.
American Psychological Association (APA)
Jiang, Lei& Li, Yuejuan& Cheng, Marvin H.. 2016. Compensation for Cross-Coupled Dynamics of Dual Twisted-String Actuation Systems. Journal of Control Science and Engineering،Vol. 2016, no. 2016, pp.1-13.
https://search.emarefa.net/detail/BIM-1107904
Modern Language Association (MLA)
Jiang, Lei…[et al.]. Compensation for Cross-Coupled Dynamics of Dual Twisted-String Actuation Systems. Journal of Control Science and Engineering No. 2016 (2016), pp.1-13.
https://search.emarefa.net/detail/BIM-1107904
American Medical Association (AMA)
Jiang, Lei& Li, Yuejuan& Cheng, Marvin H.. Compensation for Cross-Coupled Dynamics of Dual Twisted-String Actuation Systems. Journal of Control Science and Engineering. 2016. Vol. 2016, no. 2016, pp.1-13.
https://search.emarefa.net/detail/BIM-1107904
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1107904