Modeling of Linear Displacement and Design of Adaptive Robust Controller

Abstract EN

Twisted-string actuation method has attracted much more attention due to its compact size and considerable output force.

Many studies have been proposed to estimate its linear displacement of actuation based on the angular measurement of the rotary device.

However, the estimated results are not always accurate, which requires an additional process to make the estimation accuracy.

In this paper, an ARC control scheme with force feedback has been developed for a high-accuracy twisted-string actuation system.