Acceleration-based position and force control for twist drive

Yuki Saito; Uichiro Nishio; Takahiro Nozaki; Kouhei Ohnishi

doi:10.1109/ICMECH.2013.6519121

Acceleration-based position and force control for twist drive

Yuki Saito, Uichiro Nishio, Takahiro Nozaki, Kouhei Ohnishi

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Citations (Scopus)

Abstract

This paper proposes a method to achieve high-precision control for Twist Drive system by using acceleration based control. Twist Drive is one of the transmission system. the transmission converts torque into a pulling force by using a pair of strings that twist on each other. Work space observer is possible to design by realization of the acceleration based control. And the work space observer is able to improve accuracy of the system and estimate force in the work space without any force sensors. The proposed method is only to use angular information not to use work space information. The proposed method was applied to position control and force control of Twist Drive system. The effect of the proposal is verified through experiments.

Original language	English
Title of host publication	2013 IEEE International Conference on Mechatronics, ICM 2013
Pages	664-669
Number of pages	6
DOIs	https://doi.org/10.1109/ICMECH.2013.6519121
Publication status	Published - 2013 Jul 1
Event	2013 IEEE International Conference on Mechatronics, ICM 2013 - Vicenza, Italy Duration: 2013 Feb 27 → 2013 Mar 1

Publication series

Name	2013 IEEE International Conference on Mechatronics, ICM 2013

Other

Other	2013 IEEE International Conference on Mechatronics, ICM 2013
Country/Territory	Italy
City	Vicenza
Period	13/2/27 → 13/3/1

ASJC Scopus subject areas

Electrical and Electronic Engineering
Mechanical Engineering

Access to Document

10.1109/ICMECH.2013.6519121

Cite this

Saito, Y, Nishio, U, Nozaki, T & Ohnishi, K 2013, Acceleration-based position and force control for twist drive. in 2013 IEEE International Conference on Mechatronics, ICM 2013., 6519121, 2013 IEEE International Conference on Mechatronics, ICM 2013, pp. 664-669, 2013 IEEE International Conference on Mechatronics, ICM 2013, Vicenza, Italy, 13/2/27. https://doi.org/10.1109/ICMECH.2013.6519121

@inproceedings{a42325572bed4f5693992625855a966a,

title = "Acceleration-based position and force control for twist drive",

abstract = "This paper proposes a method to achieve high-precision control for Twist Drive system by using acceleration based control. Twist Drive is one of the transmission system. the transmission converts torque into a pulling force by using a pair of strings that twist on each other. Work space observer is possible to design by realization of the acceleration based control. And the work space observer is able to improve accuracy of the system and estimate force in the work space without any force sensors. The proposed method is only to use angular information not to use work space information. The proposed method was applied to position control and force control of Twist Drive system. The effect of the proposal is verified through experiments.",

author = "Yuki Saito and Uichiro Nishio and Takahiro Nozaki and Kouhei Ohnishi",

year = "2013",

month = jul,

day = "1",

doi = "10.1109/ICMECH.2013.6519121",

language = "English",

isbn = "9781467313889",

series = "2013 IEEE International Conference on Mechatronics, ICM 2013",

pages = "664--669",

booktitle = "2013 IEEE International Conference on Mechatronics, ICM 2013",

note = "2013 IEEE International Conference on Mechatronics, ICM 2013 ; Conference date: 27-02-2013 Through 01-03-2013",

}

TY - GEN

T1 - Acceleration-based position and force control for twist drive

AU - Saito, Yuki

AU - Nishio, Uichiro

AU - Nozaki, Takahiro

AU - Ohnishi, Kouhei

PY - 2013/7/1

Y1 - 2013/7/1

N2 - This paper proposes a method to achieve high-precision control for Twist Drive system by using acceleration based control. Twist Drive is one of the transmission system. the transmission converts torque into a pulling force by using a pair of strings that twist on each other. Work space observer is possible to design by realization of the acceleration based control. And the work space observer is able to improve accuracy of the system and estimate force in the work space without any force sensors. The proposed method is only to use angular information not to use work space information. The proposed method was applied to position control and force control of Twist Drive system. The effect of the proposal is verified through experiments.

AB - This paper proposes a method to achieve high-precision control for Twist Drive system by using acceleration based control. Twist Drive is one of the transmission system. the transmission converts torque into a pulling force by using a pair of strings that twist on each other. Work space observer is possible to design by realization of the acceleration based control. And the work space observer is able to improve accuracy of the system and estimate force in the work space without any force sensors. The proposed method is only to use angular information not to use work space information. The proposed method was applied to position control and force control of Twist Drive system. The effect of the proposal is verified through experiments.

UR - http://www.scopus.com/inward/record.url?scp=84879394843&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84879394843&partnerID=8YFLogxK

U2 - 10.1109/ICMECH.2013.6519121

DO - 10.1109/ICMECH.2013.6519121

M3 - Conference contribution

AN - SCOPUS:84879394843

SN - 9781467313889

T3 - 2013 IEEE International Conference on Mechatronics, ICM 2013

SP - 664

EP - 669

BT - 2013 IEEE International Conference on Mechatronics, ICM 2013

T2 - 2013 IEEE International Conference on Mechatronics, ICM 2013

Y2 - 27 February 2013 through 1 March 2013

ER -

Acceleration-based position and force control for twist drive

Abstract

Publication series

Other

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this