Acceleration-based position and force control for twist drive

Yuki Saito, Uichiro Nishio, Takahiro Nozaki, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (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 languageEnglish
Title of host publication2013 IEEE International Conference on Mechatronics, ICM 2013
Pages664-669
Number of pages6
DOIs
Publication statusPublished - 2013
Event2013 IEEE International Conference on Mechatronics, ICM 2013 - Vicenza, Italy
Duration: 2013 Feb 272013 Mar 1

Other

Other2013 IEEE International Conference on Mechatronics, ICM 2013
CountryItaly
CityVicenza
Period13/2/2713/3/1

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ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering

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 (pp. 664-669). [6519121] https://doi.org/10.1109/ICMECH.2013.6519121