DC Field | Value | Language |
---|---|---|
dc.contributor.author | 김상연 | - |
dc.contributor.author | 권동수 | - |
dc.contributor.author | 강상철 | - |
dc.contributor.author | 김문상 | - |
dc.date.accessioned | 2013-03-15T22:54:19Z | - |
dc.date.available | 2013-03-15T22:54:19Z | - |
dc.date.created | 2012-02-06 | - |
dc.date.issued | 1997-10-17 | - |
dc.identifier.citation | Proceedings of the 12th Korea Automatic Control Conference, v., no., pp.253 - 256 | - |
dc.identifier.uri | http://hdl.handle.net/10203/124806 | - |
dc.description.abstract | This paper proposes a control strategy of position and force control in the same direction based on hybrid position/force control. In order to control position and force in the same direction, a weighting matrix is introduced instead of a selection matrix suggested by Raibert and Craig. The major part of the controller output comes from the position controller when a position control error is large, from the force controller when a position control error is large. The proposed algorithm is implemented by the simulation and experiment focusing on the peg-in-hole task where friction exist significantly and is not constant. It also adopts and event control scheme for more efficient performance. | - |
dc.language | KOR | - |
dc.title | 마찰이 있는 조립작업을 위한 동일 방향 혼합위치/힘 제어 | - |
dc.title.alternative | Hybrid Position/ Force Control in the Same Direction for Assembly Operation in Variable Friction Environment | - |
dc.type | Conference | - |
dc.type.rims | CONF | - |
dc.citation.beginningpage | 253 | - |
dc.citation.endingpage | 256 | - |
dc.citation.publicationname | Proceedings of the 12th Korea Automatic Control Conference | - |
dc.identifier.conferencecountry | South Korea | - |
dc.identifier.conferencecountry | South Korea | - |
dc.contributor.localauthor | 권동수 | - |
dc.contributor.nonIdAuthor | 김상연 | - |
dc.contributor.nonIdAuthor | 강상철 | - |
dc.contributor.nonIdAuthor | 김문상 | - |
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