Sensorless position control using feedforward internal force for completely restrained parallel-wire-driven systems

Hitoshi Kino, Toshiaki Yahiro, Shohei Taniguchi, Kenji Tahara

Research output: Contribution to journalArticle

24 Citations (Scopus)

Abstract

Generally, point-to-point control for a completely restrained (CR) parallel-wire-driven system requires a balancing internal force to prevent slackening of wires, along with a feedback term based on some displacement sensor. This paper specifically describes CR systems' internal force properties, then presents the possibility of motion convergence at a desired position when the internal force balancing at a position is given as sensorless feedforward input. Subsequently, we use the property of internal force positively for sensorless position control. This positioning method is applicable for low-cost manipulation, which does not require high accuracy, and for emergency positioning of systems when sensors malfunction.

Original languageEnglish
Pages (from-to)467-474
Number of pages8
JournalIEEE Transactions on Robotics
Volume25
Issue number2
DOIs
Publication statusPublished - Mar 10 2009

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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