DC Field | Value | Language |
---|---|---|
dc.contributor.author | Kang, Sang Hoon | ko |
dc.contributor.author | Jin, Maolin | ko |
dc.contributor.author | Chang, Pyung-Hun | ko |
dc.date.accessioned | 2009-12-09T05:49:20Z | - |
dc.date.available | 2009-12-09T05:49:20Z | - |
dc.date.created | 2012-02-06 | - |
dc.date.created | 2012-02-06 | - |
dc.date.issued | 2009-06 | - |
dc.identifier.citation | IEEE-ASME TRANSACTIONS ON MECHATRONICS, v.14, no.3, pp.282 - 294 | - |
dc.identifier.issn | 1083-4435 | - |
dc.identifier.uri | http://hdl.handle.net/10203/14445 | - |
dc.description.abstract | It has been reported that, in impedance control, there exists a dilemma between impedance accuracy and robustness against modeling error. As a solution to this dilemma, an accurate and robust impedance control technique is developed based on internal model control structure and time-delay estimation: the former injects desired impedance and corrects modeling error, the latter estimates and compensates the nonlinear dynamics of robot manipulators. Owing to the simple structure, the proposed control is designed without requiring entire model computation or complex algorithms. In 2-DOF SCARA-type robot experiments, the Accuracy and robustness of the proposed control are confirmed through comparisons with other competent controllers including impedance control with disturbance observer. | - |
dc.language | English | - |
dc.language.iso | en_US | en |
dc.publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | - |
dc.subject | TIME-DELAY CONTROL | - |
dc.subject | ROBOT MANIPULATORS | - |
dc.subject | MOTION CONTROL | - |
dc.subject | LEAST-SQUARES | - |
dc.subject | DESIGN | - |
dc.subject | SYSTEMS | - |
dc.subject | FRAMEWORK | - |
dc.subject | HAND | - |
dc.title | A Solution to the Accuracy/Robustness Dilemma in Impedance Control | - |
dc.type | Article | - |
dc.identifier.wosid | 000267438400002 | - |
dc.identifier.scopusid | 2-s2.0-67650102828 | - |
dc.type.rims | ART | - |
dc.citation.volume | 14 | - |
dc.citation.issue | 3 | - |
dc.citation.beginningpage | 282 | - |
dc.citation.endingpage | 294 | - |
dc.citation.publicationname | IEEE-ASME TRANSACTIONS ON MECHATRONICS | - |
dc.identifier.doi | 10.1109/TMECH.2008.2005524 | - |
dc.embargo.liftdate | 9999-12-31 | - |
dc.embargo.terms | 9999-12-31 | - |
dc.contributor.localauthor | Chang, Pyung-Hun | - |
dc.contributor.nonIdAuthor | Kang, Sang Hoon | - |
dc.contributor.nonIdAuthor | Jin, Maolin | - |
dc.type.journalArticle | Article | - |
dc.subject.keywordAuthor | Force control | - |
dc.subject.keywordAuthor | impedance control | - |
dc.subject.keywordAuthor | internal model control (IMC) | - |
dc.subject.keywordAuthor | time-delay control | - |
dc.subject.keywordPlus | TIME-DELAY CONTROL | - |
dc.subject.keywordPlus | ROBOT MANIPULATORS | - |
dc.subject.keywordPlus | MOTION CONTROL | - |
dc.subject.keywordPlus | LEAST-SQUARES | - |
dc.subject.keywordPlus | DESIGN | - |
dc.subject.keywordPlus | SYSTEMS | - |
dc.subject.keywordPlus | FRAMEWORK | - |
dc.subject.keywordPlus | HAND | - |
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