Hybrid Control Strategy for Force and Precise End Effector Positioning of a Twisted String Actuator

Volume: 26, Issue: 5, Pages: 2791 - 2802
Published: Oct 1, 2021
Abstract
In this article, we propose a new control approach for the twisted string actuation system; a hybrid control scheme consisting of two nested loops, considering the motor angle and the axial force at the clamping point of the actuator as the system outputs. We show that measuring the axial force at the base of the actuator, we can effectively estimate and compensate the coupling torque between the motor and the external load. Then, compensation...
Paper Details
Title
Hybrid Control Strategy for Force and Precise End Effector Positioning of a Twisted String Actuator
Published Date
Oct 1, 2021
Volume
26
Issue
5
Pages
2791 - 2802
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