The twisted string actuation system: Modeling and control
The twisted string actuation system: Modeling and control
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DOI：
10.1109/aim.2010.5695720
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发表时间：
2010-07
期刊：
影响因子：
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通讯作者：
T. Wurtz;C. May;B. Holz;C. Natale;G. Palli;C. Melchiorri
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文献类型：
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作者：
T. Wurtz;C. May;B. Holz;C. Natale;G. Palli;C. Melchiorri
本文描述了一种用于非常紧凑和轻量的机器人设备（例如假手）的新型驱动系统。这里提出的驱动概念允许实现强大的基于腱的驱动系统，使用具有高速和低扭矩特点的小型直流电机作为执行器。在介绍了这种新型驱动系统的基本概念后，给出了系统的本构方程，并通过实验室测试进行了验证。此外，考虑到跟踪期望的致动力分布的问题，将质量-弹簧-阻尼器系统视为负载。首先通过仿真评估了基于二阶滑动流形的控制算法，然后通过实验进行了验证。选择该输出反馈控制器是为了保证对干扰、参数变化和不确定性的高鲁棒性，同时保持较低的计算负担。
This paper describes a novel actuation system for very compact and light-weight robotic devices, like artificial hands. The actuation concept presented here allows the implementation of powerful tendon-based driving systems, using as actuators small-size DC motors characterized by high speed and low torque. After the presentation of the basic concept of this novel actuation system, the constitutive equations of the system are given, validated by means of laboratory tests. Moreover, the problem of tracking a desired actuation force profile is taken into account, considering as load a mass-spring-damper system. A control algorithm based on a second-order sliding manifold has been firstly evaluated by means of simulations, and then validated by experiments. This output-feedback controller has been chosen to guarantee a high level of robustness against disturbances, parameter variations and uncertainties while maintaining a low computational burden.