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Dynamic Modeling and Control of Small Scale Wire Driven Robotic Joints with Wire Elasticity

Authors
Shoaib, MuhammadKhan, Mohammed SaquibAsim, MuhammadCheong, Joono
Issue Date
9월-2018
Publisher
AMER SCIENTIFIC PUBLISHERS
Keywords
Small Scale Wire Driven Robotic Joints; Antagonistic Robotic Joints; Singular Perturbation Approach; Slow and Fast Control
Citation
JOURNAL OF NANOELECTRONICS AND OPTOELECTRONICS, v.13, no.9, pp.1389 - 1396
Indexed
SCIE
Journal Title
JOURNAL OF NANOELECTRONICS AND OPTOELECTRONICS
Volume
13
Number
9
Start Page
1389
End Page
1396
URI
https://scholar.korea.ac.kr/handle/2021.sw.korea/73237
DOI
10.1166/jno.2018.2436
ISSN
1555-130X
Abstract
In this paper, dynamic modeling and control of small scale wire driven robotic joints (WDRJ) with elastic wires is studied in detail. In the dynamic modeling, it is assumed that the dominant dynamics of wires which are the longitudinal vibrations of the wires can be approximated by a linear axial spring model. Moreover, the dynamic model of the WDRJ is converted to the standard form of singular perturbation, which allows the controller design on the base of the singular perturbation theory. The proposed control scheme consists of two major parts, slow and fast sub-controllers. First, a slow sub-controller is designed by considering WDRJ with ideal rigid wires, which is used to control the gross motion of the WDRJ. Then, this controller is extended to the WDRJ with elastic wires by adding the fast sub-controller, to counteract the longitudinal vibrations caused by the inevitable elasticity of the wires. Furthermore, to ensure all the wires remain in tension, the proposed control strategy is refined by adding the concept of internal force. Finally, the efficiency of the proposed control algorithm is investigated through simulations. And it is demonstrated that WDRJ is an appealing candidate for the design of small scale robotic system.
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