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Get Free AccessThe tendon–sheath system (TSS) has emerged as a promising solution for force transmission in robot applications, owing to the lightweight, low inertia, and good flexibility. However, the performance of tension control is affected by the configuration-dependent nonlinearities, and achieving precise control of the distal force of TSS in time-varying configurations remains a challenge. To address this issue, this article proposes a comprehensive method combining feedforward and feedback control to enhance the control accuracy of TSS by estimating the bending angle in real time, even when the system configuration is unknown. A bending angle estimation approach based on a friction model is proposed, and an improved friction model is developed to simulate the nonlinear friction more accurately. Furthermore, a double-TSS transmission structure is designed to facilitate the integration of control and configuration feedback in mechanical systems. The experimental results confirm the effectiveness of the proposed method in enhancing force-tracking performance in unknown configurations.
Ye Lu, Huijun Li, Ke Shi, Jianwei Lai, Ye Li, Maozeng Zhang, Aiguo Song (2023). A Comprehensive Control Method for Tendon–Sheath System Using Friction Model-Based Angle Estimation and Feedforward-Feedback Control in Time-Varying Configurations. , 71(5), DOI: https://doi.org/10.1109/tie.2023.3288194.
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Type
Article
Year
2023
Authors
7
Datasets
0
Total Files
0
Language
en
DOI
https://doi.org/10.1109/tie.2023.3288194
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