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- W4362647489 abstract "The friction force inside the Bowden cable will lead to the gap, hysteresis and non-linearity in the force transmission system, The fabrics wrapped around the limbs has the hysteresis and internal friction characteristics of polymer, which will cause the hysteresis and loss of the force generated by the system. In this paper, the static Coulomb friction math model of the Bowden cable and the finite element model of the fabrics are established for analysis, and the force compensation obtained is added to the control system. Then, based on the model, a fuzzy Active Disturbance Rejection Control (ADRC) method is proposed, which is compared with the traditional PID control method through simulation experiments. The simulation results show that the force tracking error is significantly reduced after the mixed force compensation of Bowden cable and fabrics, and the force tracking error is reduced by 1.96% after the use of fuzzy ADRC." @default.
- W4362647489 created "2023-04-07" @default.
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- W4362647489 date "2023-01-05" @default.
- W4362647489 modified "2023-10-18" @default.
- W4362647489 title "Research on Force Transmission Control of Bowden Cable-Fabrics Based on FEM and Fuzzy ADRC" @default.
- W4362647489 doi "https://doi.org/10.1109/icrca57894.2023.10087591" @default.
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