Applying disturbance observer to the motor side of flexible joint robots with PD control
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Kim, Min Jun | ko |
| dc.contributor.author | Chung, Wan Kyun | ko |
| dc.date.accessioned | 2020-11-30T05:10:25Z | - |
| dc.date.available | 2020-11-30T05:10:25Z | - |
| dc.date.created | 2020-11-24 | - |
| dc.date.issued | 2015-10-29 | - |
| dc.identifier.citation | 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015, pp.197 - 198 | - |
| dc.identifier.issn | 2325-033X | - |
| dc.identifier.uri | http://hdl.handle.net/10203/277718 | - |
| dc.description.abstract | This paper demonstrates DOB-based PD+gravity compensation control for flexible joint robots (FJRs). By virtue of the DOB, the controller can recover global asymptotic stability under the friction. One important difference from the typical DOB implementation is that the nominal signal feedback is required, instead of the real (measured) signal feedback. | - |
| dc.language | English | - |
| dc.publisher | Institute of Electrical and Electronics Engineers Inc. | - |
| dc.title | Applying disturbance observer to the motor side of flexible joint robots with PD control | - |
| dc.type | Conference | - |
| dc.identifier.wosid | 000379215900057 | - |
| dc.identifier.scopusid | 2-s2.0-84962748783 | - |
| dc.type.rims | CONF | - |
| dc.citation.beginningpage | 197 | - |
| dc.citation.endingpage | 198 | - |
| dc.citation.publicationname | 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015 | - |
| dc.identifier.conferencecountry | KO | - |
| dc.identifier.conferencelocation | Kintex, Goyang City | - |
| dc.identifier.doi | 10.1109/URAI.2015.7358867 | - |
| dc.contributor.localauthor | Kim, Min Jun | - |
| dc.contributor.nonIdAuthor | Chung, Wan Kyun | - |
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