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

Seiji Uozumi, Koyo Yu, Nobuto Yoshimura, Kouhei Ohnishi

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014
出版社Institute of Electrical and Electronics Engineers Inc.
ページ470-475
ページ数6
ISBN(印刷版)9781479923243
DOI
出版ステータスPublished - 2014 1 1
イベント2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014 - Yokohama, Japan
継続期間: 2014 3 142014 3 16

出版物シリーズ

名前International 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

ASJC Scopus subject areas

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

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