Control of interaction force of twin direct-drive motor system using variable wire rope tension with multisensor integration

Chowarit Mitsantisuk, Kiyoshi Ohishi, Seiichiro Katsura

Research output: Contribution to journalArticlepeer-review

48 Citations (Scopus)


In this paper, a novel wire-based robot system with consideration of the different levels of wire rope tension is introduced, and its performance while executing a task in an unknown environment is analyzed. An adaptable wire rope tension control, called a twin direct-drive motor system, provides a unique structure for a robot interaction system. Compared with conventional industrial robots, it significantly becomes the preferred approach for improving the level of reliability and providing safe user interaction because the wire rope mechanism is a low friction and lightweight device. In addition, from the identification results, the bandwidth of the robot system can be regulated by changing the wire rope tension. In the controller design, dual disturbance observers with respect to two operation modes, namely, the common mode and the differential mode, are designed and applied for controlling the wire rope tension and interaction force. A variable wire rope tension algorithm is proposed to change the mechanical bandwidth based on the movements of a human. The advantages of a high mechanical bandwidth and low stiffness transmission are combined. With regard to the rejection of the vibration effects and the generation of a smooth interaction force, the variable wire rope tension control is found to give the best results in an experimental setup.

Original languageEnglish
Article number5735222
Pages (from-to)498-510
Number of pages13
JournalIEEE Transactions on Industrial Electronics
Issue number1
Publication statusPublished - 2012 Jan


  • Acceleration control
  • Kalman filter
  • disturbance observer
  • human interaction
  • modal space design
  • motion control
  • power assist
  • sensor integration system

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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