NDLI: Control of cable actuated devices using smooth backlash inverse

Content Provider	IEEE Xplore Digital Library
Author	Agrawal, V. Peine, W.J. Bin Yao SeungWook Choi
Copyright Year	2010
Description	Author affiliation: Rebo Co. Ltd., Gyeonggi, Republic of Korea (SeungWook Choi) \|\| School of Mechanical Engineering, Purdue University, West Lafayette, IN 47906 USA (Agrawal, V.; Peine, W.J.; Bin Yao)
Abstract	Cable conduit actuation provides a simple yet dexterous mode of power transmission for remote actuation. However, they are not preferred because of the nonlinearities arising from friction and cable compliance which lead to backlash type of behavior. Unlike most of the current research in backlash control which generally assumes no knowledge of one of the intermediate states, the controller design in this case can be significantly simplified if output feedback of the system is available. This paper uses a simple feedforward control law for backlash compensation. A novel smooth backlash inverse is proposed, which takes the physical limitations of the actuator in consideration, unlike other designs, and thus makes it more intuitive to use. Implementation of this inverse on physical systems can also improve the system performance over the theoretical exact inverse, as well as other existing smooth inverse designs. Improvement in the performance is shown through experiments on a robot arm of Laprotek surgical system as well as on an experimental setup using polymeric cables for actuation.
Starting Page	1074
Ending Page	1079
File Size	1105502
Page Count	6
File Format	PDF
ISBN	9781424450381
ISSN	10504729
DOI	10.1109/ROBOT.2010.5509533
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Control systems Power transmission Friction Output feedback Actuators System performance Robots Surgery Polymers Cables
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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