文章基本信息

标题：Compensation for Cross-Coupled Dynamics of Dual Twisted-String Actuation Systems
本地全文：下载
作者：Lei Jiang ; Yuejuan Li ; Marvin H. Cheng 等
期刊名称：Journal of Control Science and Engineering
印刷版ISSN：1687-5249
电子版ISSN：1687-5257
出版年度：2016
卷号：2016
DOI：10.1155/2016/5864918
出版社：Hindawi Publishing Corporation
摘要：Twisted-string actuation devices have been adopted in various robotic systems due to their advantages of compact size and simple structure. To precisely control the displacement of such devices, a dual-direction actuating mechanism, which provides both extension and contraction of two strings simultaneously, must be implemented. Due to the physical properties of twisted string, the actuator has problems of nonlinear length variation and cross-coupled relationships between two strings. In this study, two controllers (PID-FC and LQR-FC) were synthesized with the consideration of cross-coupling dynamics between the two axes. The experimental results demonstrate the performance of both tracking and synchronization responses of these two types of controllers.