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

Other

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

Fingerprint

Motion Control
Tendons
Motion control
Twist
Actuator
Actuators
Disturbance Observer
Workspace
Torque
Strings
Force Sensor
Motion
Torque control
Convert
Observer
Interference
Angle
Sensors
Estimate
Experiment

Keywords

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

ASJC Scopus subject areas

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

Cite this

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

Motion control of tendon-driven rotary actuator using Twist Drive system. / Uozumi, Seiji; Yu, Koyo; Yoshimura, Nobuto; Ohnishi, Kouhei.

International Workshop on Advanced Motion Control, AMC. Institute of Electrical and Electronics Engineers Inc., 2014. p. 470-475 6823327.

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

Uozumi, S, Yu, K, Yoshimura, N & Ohnishi, K 2014, Motion control of tendon-driven rotary actuator using Twist Drive system. in International Workshop on Advanced Motion Control, AMC., 6823327, Institute of Electrical and Electronics Engineers Inc., pp. 470-475, 2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014, Yokohama, Japan, 14/3/14. https://doi.org/10.1109/AMC.2014.6823327
Uozumi S, Yu K, Yoshimura N, Ohnishi K. Motion control of tendon-driven rotary actuator using Twist Drive system. In International Workshop on Advanced Motion Control, AMC. Institute of Electrical and Electronics Engineers Inc. 2014. p. 470-475. 6823327 https://doi.org/10.1109/AMC.2014.6823327
Uozumi, Seiji ; Yu, Koyo ; Yoshimura, Nobuto ; Ohnishi, Kouhei. / Motion control of tendon-driven rotary actuator using Twist Drive system. International Workshop on Advanced Motion Control, AMC. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 470-475
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