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DC Field Value Language Lee, Hyoryong - Choi, Hyunchul - Park, Joowon - Park, Sukho - 2020-02-27T08:40:43Z - 2020-02-27T08:40:43Z - 2020-01-08 - 2020-04 -
dc.identifier.citation Mechanism and Machine Theory, v.146, pp.103733 -
dc.identifier.issn 0094-114X -
dc.identifier.uri -
dc.description.abstract Twisted string actuators (TSAs) have been used where conversion of the rotational motion of a motor into a translatory motion by twisting two strings to control the length of the actuator is needed, e.g., in robot applications. Speed mode TSA (SM-TSA) improves the translatory motion achieved in previous TSAs by adding a shaft between two strings. However, the nonlinear response of the translatory displacements remains a problem. Modeling has been one approach, but payload changes or disturbances make it difficult to solve the nonlinear response of SM-TSA through modeling. Here, proportional–integral–derivative (PID) control and time delay control (TDC) in SM-TSA are evaluated as feedback mechanisms during translatory displacements. By following the desired trajectory through PID control and TDC under conditions of payload changes and spring disturbances in SM-TSA and evaluating tracking results, we show that both control methods can provide somewhat precise positional control in SM-TSA even if there are payload changes or spring disturbances. However, TDC shows smaller tracking errors and yields more robust performance against payload changes and disturbances compared to PID control. © 2019 Elsevier Ltd -
dc.language English -
dc.publisher Pergamon Press Ltd. -
dc.title Robust control algorithm using time delay estimation for speed mode of twisted string actuator -
dc.type Article -
dc.identifier.doi 10.1016/j.mechmachtheory.2019.103733 -
dc.identifier.wosid 000509752800021 -
dc.identifier.scopusid 2-s2.0-85076904509 -
dc.type.local Article(Overseas) -
dc.type.rims ART -
dc.description.journalClass 1 -
dc.citation.publicationname Mechanism and Machine Theory -
dc.contributor.nonIdAuthor Lee, Hyoryong -
dc.contributor.nonIdAuthor Choi, Hyunchul -
dc.contributor.nonIdAuthor Park, Joowon -
dc.identifier.citationVolume 146 -
dc.identifier.citationStartPage 103733 -
dc.identifier.citationTitle Mechanism and Machine Theory -
dc.type.journalArticle Article -
dc.description.isOpenAccess N -
dc.subject.keywordAuthor Disturbance -
dc.subject.keywordAuthor Payload -
dc.subject.keywordAuthor Robustness -
dc.subject.keywordAuthor Time delay control -
dc.subject.keywordAuthor Time delay estimation -
dc.subject.keywordAuthor Twisted string actuator -
dc.subject.keywordPlus TENDON-DRIVEN -
dc.subject.keywordPlus DESIGN -
dc.contributor.affiliatedAuthor Lee, Hyoryong -
dc.contributor.affiliatedAuthor Choi, Hyunchul -
dc.contributor.affiliatedAuthor Park, Joowon -
dc.contributor.affiliatedAuthor Park, Sukho -
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Appears in Collections:
Department of Robotics and Mechatronics Engineering Multiscale Biomedical Robotics Laboratory 1. Journal Articles


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