DC Field | Value | Language |
---|---|---|
dc.contributor.author | Kim, MJ | - |
dc.contributor.author | Chung, WK | - |
dc.date.accessioned | 2017-07-19T12:35:09Z | - |
dc.date.available | 2017-07-19T12:35:09Z | - |
dc.date.created | 2016-01-14 | - |
dc.date.issued | 2015-12 | - |
dc.identifier.issn | 1552-3098 | - |
dc.identifier.uri | https://oasis.postech.ac.kr/handle/2014.oak/36073 | - |
dc.description.abstract | This paper proposes a robust PD control scheme for flexible-joint robots based on a disturbance observer (DOB). In this paper, the DOB is applied only to the motor-side dynamics of the robot, and the uncertainties on the motor-side are successfully eliminated. It is shown that the proposed DOB-based approach guarantees global asymptotic stability. To this end, two special treatments are required. First, unlike the typical configuration of the DOB, nominal states of the motor-side are fed back to the PD controller. Second, a control input that makes the nominal states stable is additionally introduced. The proposed approach was verified using multi-degree-of-freedom experiments. | - |
dc.language | English | - |
dc.publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | - |
dc.relation.isPartOf | IEEE TRANSACTIONS ON ROBOTICS | - |
dc.title | Disturbance-Observer-Based PD Control of Flexible Joint Robots for Asymptotic Convergence | - |
dc.type | Article | - |
dc.identifier.doi | 10.1109/TRO.2015.2477957 | - |
dc.type.rims | ART | - |
dc.identifier.bibliographicCitation | IEEE TRANSACTIONS ON ROBOTICS, v.31, no.6, pp.1508 - 1516 | - |
dc.identifier.wosid | 000366663300019 | - |
dc.date.tcdate | 2019-03-01 | - |
dc.citation.endPage | 1516 | - |
dc.citation.number | 6 | - |
dc.citation.startPage | 1508 | - |
dc.citation.title | IEEE TRANSACTIONS ON ROBOTICS | - |
dc.citation.volume | 31 | - |
dc.contributor.affiliatedAuthor | Chung, WK | - |
dc.identifier.scopusid | 2-s2.0-84943179290 | - |
dc.description.journalClass | 1 | - |
dc.description.journalClass | 1 | - |
dc.description.wostc | 15 | - |
dc.description.scptc | 14 | * |
dc.date.scptcdate | 2018-05-121 | * |
dc.type.docType | Article | - |
dc.subject.keywordPlus | H-INFINITY OPTIMALITY | - |
dc.subject.keywordPlus | TORQUE FEEDBACK | - |
dc.subject.keywordPlus | DESIGN | - |
dc.subject.keywordPlus | PERFORMANCE | - |
dc.subject.keywordPlus | TRACKING | - |
dc.subject.keywordAuthor | Disturbance observer (DOB) | - |
dc.subject.keywordAuthor | flexible joint robots (FJRs) | - |
dc.subject.keywordAuthor | impedance control | - |
dc.subject.keywordAuthor | PD control | - |
dc.relation.journalWebOfScienceCategory | Robotics | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Robotics | - |
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