Compensation for Cross-Coupled Dynamics of Dual Twisted-String Actuation Systems
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 simult...
Saved in:
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Wiley
2016-01-01
|
| Series: | Journal of Control Science and Engineering |
| Online Access: | http://dx.doi.org/10.1155/2016/5864918 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1832550002402000896 |
|---|---|
| author | Lei Jiang Yuejuan Li Marvin H. Cheng |
| author_facet | Lei Jiang Yuejuan Li Marvin H. Cheng |
| author_sort | Lei Jiang |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-6762f09c7152472c872075967d0e8428 |
| institution | Kabale University |
| issn | 1687-5249 1687-5257 |
| language | English |
| publishDate | 2016-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Control Science and Engineering |
| spelling | doaj-art-6762f09c7152472c872075967d0e84282025-02-03T06:08:02ZengWileyJournal of Control Science and Engineering1687-52491687-52572016-01-01201610.1155/2016/58649185864918Compensation for Cross-Coupled Dynamics of Dual Twisted-String Actuation SystemsLei Jiang0Yuejuan Li1Marvin H. Cheng2Department of Mechanical and Aerospace Engineering, West Virginia University, Morgantown, WV 26506, USABeijing University of Technology, Beijing 100124, ChinaDepartment of Mechanical and Aerospace Engineering, West Virginia University, Morgantown, WV 26506, USATwisted-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.http://dx.doi.org/10.1155/2016/5864918 |
| spellingShingle | Lei Jiang Yuejuan Li Marvin H. Cheng Compensation for Cross-Coupled Dynamics of Dual Twisted-String Actuation Systems Journal of Control Science and Engineering |
| title | Compensation for Cross-Coupled Dynamics of Dual Twisted-String Actuation Systems |
| title_full | Compensation for Cross-Coupled Dynamics of Dual Twisted-String Actuation Systems |
| title_fullStr | Compensation for Cross-Coupled Dynamics of Dual Twisted-String Actuation Systems |
| title_full_unstemmed | Compensation for Cross-Coupled Dynamics of Dual Twisted-String Actuation Systems |
| title_short | Compensation for Cross-Coupled Dynamics of Dual Twisted-String Actuation Systems |
| title_sort | compensation for cross coupled dynamics of dual twisted string actuation systems |
| url | http://dx.doi.org/10.1155/2016/5864918 |
| work_keys_str_mv | AT leijiang compensationforcrosscoupleddynamicsofdualtwistedstringactuationsystems AT yuejuanli compensationforcrosscoupleddynamicsofdualtwistedstringactuationsystems AT marvinhcheng compensationforcrosscoupleddynamicsofdualtwistedstringactuationsystems |