Full metadata record
DC Field | Value | Language |
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dc.contributor.author | Lee, Hyoryong | - |
dc.contributor.author | Choi, Hyunchul | - |
dc.contributor.author | Park, Joowon | - |
dc.contributor.author | Park, Sukho | - |
dc.date.accessioned | 2020-02-27T08:40:43Z | - |
dc.date.available | 2020-02-27T08:40:43Z | - |
dc.date.created | 2020-01-08 | - |
dc.date.issued | 2020-04 | - |
dc.identifier.issn | 0094-114X | - |
dc.identifier.uri | http://hdl.handle.net/20.500.11750/11375 | - |
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.scopusid | 2-s2.0-85076904509 | - |
dc.identifier.bibliographicCitation | Mechanism and Machine Theory, v.146, pp.103733 | - |
dc.description.isOpenAccess | FALSE | - |
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.citation.startPage | 103733 | - |
dc.citation.title | Mechanism and Machine Theory | - |
dc.citation.volume | 146 | - |
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