Compensation for Cross-Coupled Dynamics of Dual Twisted-String Actuation Systems

Figure 13

Experimental outcome of LQR-FC controller (sinusoidal motion): (a) comparison between reference trajectory and actual trajectories of left actuator; (b) comparison between reference trajectory and actual trajectories of right actuator; (c) synchronization errors between left and right actuators.

(a)

(b)

(c)