DC Field | Value | Language |
---|---|---|
dc.contributor.author | Kim, Min Jun | ko |
dc.contributor.author | Chung, Wan Kyun | ko |
dc.date.accessioned | 2020-08-21T02:55:10Z | - |
dc.date.available | 2020-08-21T02:55:10Z | - |
dc.date.created | 2020-08-21 | - |
dc.date.issued | 2015-12 | - |
dc.identifier.citation | IEEE TRANSACTIONS ON ROBOTICS, v.31, no.6, pp.1508 - 1516 | - |
dc.identifier.issn | 1552-3098 | - |
dc.identifier.uri | http://hdl.handle.net/10203/275902 | - |
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.title | Disturbance-Observer-Based PD Control of Flexible Joint Robots for Asymptotic Convergence | - |
dc.type | Article | - |
dc.identifier.wosid | 000366663300019 | - |
dc.identifier.scopusid | 2-s2.0-84943179290 | - |
dc.type.rims | ART | - |
dc.citation.volume | 31 | - |
dc.citation.issue | 6 | - |
dc.citation.beginningpage | 1508 | - |
dc.citation.endingpage | 1516 | - |
dc.citation.publicationname | IEEE TRANSACTIONS ON ROBOTICS | - |
dc.identifier.doi | 10.1109/TRO.2015.2477957 | - |
dc.contributor.localauthor | Kim, Min Jun | - |
dc.contributor.nonIdAuthor | Chung, Wan Kyun | - |
dc.description.isOpenAccess | N | - |
dc.type.journalArticle | Article | - |
dc.subject.keywordAuthor | Disturbance observer (DOB) | - |
dc.subject.keywordAuthor | flexible joint robots (FJRs) | - |
dc.subject.keywordAuthor | impedance control | - |
dc.subject.keywordAuthor | PD control | - |
dc.subject.keywordPlus | H-INFINITY OPTIMALITY | - |
dc.subject.keywordPlus | TORQUE FEEDBACK | - |
dc.subject.keywordPlus | DESIGN | - |
dc.subject.keywordPlus | PERFORMANCE | - |
dc.subject.keywordPlus | TRACKING | - |
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