Abstract
Agonistic control is a novel method of motion control. The workpiece is pulled by multiple tendons, each controlled by its own actuator. In this paper, a decentralized control scheme is presented. A simple linear second order model is used instead of complex nonlinear model used in the centralized version. The control scheme presented in this paper embodies a key concept: the total torque is the superposition of the base value and the correction value. The base torque serves to establish the dynamic equilibrium point and keeps the tendons in tension. The correction torque is responsible for the movement of the workpiece. The tension in each tendon is treated as a disturbance, estimated by an observer, to be compensated.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 2386-2387 |
| Number of pages | 2 |
| Journal | Proceedings of the American Control Conference |
| Volume | 4 |
| State | Published - 1997 |
| Event | Proceedings of the 1997 American Control Conference. Part 3 (of 6) - Albuquerque, NM, USA Duration: Jun 4 1997 → Jun 6 1997 |
All Science Journal Classification (ASJC) codes
- Electrical and Electronic Engineering