IMU-based Parameter Identification and Position Estimation in Twisted String Actuators
Simeon Nedelchev,Daniil Kirsanov,Igor Gaponov,Simeon Nedelchev,Daniil Kirsanov,Igor Gaponov
This study proposes a technique to estimate the output state of twisted string actuators (TSAs) based on payload's acceleration measurements. We outline differential kinematics relationships of the actuator, re-formulate these into a nonlinear parameter identification problem and then apply linearization techniques to efficiently solve it as a quadratic program. Using accurate estimates of string ...
