Modeling of Linear Displacement and Design of Adaptive Robust Controller

Figure 3

Different configurations of the strings used in the experiment: twisted-string configuration of a 2-strand actuation (a) and (c) and 3-strand actuation (b) and (d) with and without a neutral strand.

(a)

(b)

(c)

(d)

(e)

(f)

(g)

(h)