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Conference proceeding
Controller synthesis for assistive robotic device using twisted-string actuation
Proceedings of the 2015 American Control Conference (ACC), pp.2248-2253
The Institute of Electrical and Electronics Engineers, Inc. (IEEE) Conference Proceedings
American Control Conference (ACC) (Chicago, Illinois, USA, 2015)
07/01/2015
Abstract
In this paper, an adaptive robust controller of assistive robotic device using a dual twisted-string actuation devices was synthesized. With the consideration of system uncertainties, nonlinear dynamics, and operational dead-zones, a compensation strategy for high accuracy motion control is integrated in the controller. The proposed controller not only accounts for the tracking performance but also minimizes synchronization errors of the dual-axial system. A test platform was designed to validate the performance of the proposed ARC controller, which can achieve tracking performance of individual twisted-string actuation and minimize the synchronization error simultaneously. The performance of the proposed ARC controller was compared with the outcome of regular PID controller as well.
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Details
- Title
- Controller synthesis for assistive robotic device using twisted-string actuation
- Publication Details
- Proceedings of the 2015 American Control Conference (ACC), pp.2248-2253
- Resource Type
- Conference proceeding
- Conference
- American Control Conference (ACC) (Chicago, Illinois, USA, 2015)
- Publisher
- The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
- Series
- The Institute of Electrical and Electronics Engineers, Inc. (IEEE) Conference Proceedings
- Grant note
- The authors gratefully acknowledge NASA West Virginia Space Grant Consortium for the financial support of this project.
- Copyright
- © 2015 AACC
- Identifiers
- 99380175880806600
- Academic Unit
- Dr. Muhammad Harunur Rashid Department of Electrical and Computer Engineering; Hal Marcus College of Science and Engineering
- Language
- English