DC Field | Value | Language |
---|---|---|
dc.contributor.author | Chang, Pyung-Hun | ko |
dc.contributor.author | KIM, DS | ko |
dc.contributor.author | PARK, KC | ko |
dc.date.accessioned | 2009-11-09T08:42:37Z | - |
dc.date.available | 2009-11-09T08:42:37Z | - |
dc.date.created | 2012-02-06 | - |
dc.date.created | 2012-02-06 | - |
dc.date.issued | 1995-09 | - |
dc.identifier.citation | CONTROL ENGINEERING PRACTICE, v.3, no.9, pp.1255 - 1264 | - |
dc.identifier.issn | 0967-0661 | - |
dc.identifier.uri | http://hdl.handle.net/10203/12288 | - |
dc.description.abstract | Robot hybrid control has been noted for its difficulty due to the so-called dynamic stability problem, and consequently demands robust control algorithms that can overcome this difficulty, yet with accuracy In this paper, a control law based on time-delay control has been derived for hybrid control, with it condition for closed-loop stability. In addition, its relationship with the disturbance observer has been investigated. It turned out that the disturbance observer is very similar to the proposed control. Throughout the simulations and experiments, this control law was observed to outperform PD or PID control, thereby proposing itself as promising for hybrid control purposes. | - |
dc.language | English | - |
dc.language.iso | en_US | en |
dc.publisher | PERGAMON-ELSEVIER SCIENCE LTD | - |
dc.title | ROBUST FORCE POSITION CONTROL OF A ROBOT MANIPULATOR USING TIME-DELAY CONTROL | - |
dc.type | Article | - |
dc.identifier.wosid | A1995RU20000006 | - |
dc.type.rims | ART | - |
dc.citation.volume | 3 | - |
dc.citation.issue | 9 | - |
dc.citation.beginningpage | 1255 | - |
dc.citation.endingpage | 1264 | - |
dc.citation.publicationname | CONTROL ENGINEERING PRACTICE | - |
dc.identifier.doi | 10.1016/0967-0661(95)00124-D | - |
dc.embargo.liftdate | 9999-12-31 | - |
dc.embargo.terms | 9999-12-31 | - |
dc.contributor.localauthor | Chang, Pyung-Hun | - |
dc.contributor.nonIdAuthor | KIM, DS | - |
dc.contributor.nonIdAuthor | PARK, KC | - |
dc.type.journalArticle | Article | - |
dc.subject.keywordAuthor | ROBOT HYBRID CONTROL | - |
dc.subject.keywordAuthor | ROBUST CONTROL | - |
dc.subject.keywordAuthor | TIME-DELAY CONTROL | - |
dc.subject.keywordAuthor | DISTURBANCE OBSERVER | - |
dc.subject.keywordAuthor | DYNAMIC STABILITY | - |
dc.subject.keywordAuthor | PARAMETER UNCERTAINTY | - |
dc.subject.keywordAuthor | DYNAMIC COUPLING | - |
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