Motion control of tendon-driven rotary actuator using Twist Drive system

Seiji Uozumi, Koyo Yu, Nobuto Yoshimura, Kouhei Ohnishi

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

2 Citations (Scopus)

Abstract

This paper proposes a method to achieve high-precision control for tendon driven system by using the Twist Drive. Twist Drive is one of transmission system which is consisted a pair of strings and rotary motor. This transmission system converts torque into a pulling force by using the pair of strings twisted on each other. However, it cannot realize pushing motion. Therefore the Twist Drive needs to be combined with an other actuation system for the realization of pushing motion. The problem is solved by tendon drive using Twist Drive system in this paper. High-precision control is achieved by modal-space disturbance observer. Modal-space disturbance observer is designed to realize the acceleration based control. It also compensates the modal interference. Furthermore work space observer is able to estimate the force in the work space without any force sensors. The proposed method was applied to rotational angle control and torque control of the tendon driven rotary actuator. The effect of the proposal is verified through experiments.

Original languageEnglish
Title of host publication2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages470-475
Number of pages6
ISBN (Print)9781479923243
DOIs
Publication statusPublished - 2014 Jan 1
Event2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014 - Yokohama, Japan
Duration: 2014 Mar 142014 Mar 16

Publication series

NameInternational Workshop on Advanced Motion Control, AMC

Other

Other2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014
CountryJapan
CityYokohama
Period14/3/1414/3/16

Keywords

  • Twist Drive
  • acceleration control
  • motion control
  • tendon drive
  • tension control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Motion control of tendon-driven rotary actuator using Twist Drive system'. Together they form a unique fingerprint.

  • Cite this

    Uozumi, S., Yu, K., Yoshimura, N., & Ohnishi, K. (2014). Motion control of tendon-driven rotary actuator using Twist Drive system. In 2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014 (pp. 470-475). [6823327] (International Workshop on Advanced Motion Control, AMC). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AMC.2014.6823327