DC Field | Value | Language |
---|---|---|
dc.contributor.author | Lee, Woongyong | ko |
dc.contributor.author | Kim, Min Jun | ko |
dc.contributor.author | Chung, Wan Kyun | ko |
dc.date.accessioned | 2020-11-30T12:10:26Z | - |
dc.date.available | 2020-11-30T12:10:26Z | - |
dc.date.created | 2020-11-24 | - |
dc.date.issued | 2016-05-18 | - |
dc.identifier.citation | IEEE International Conference on Robotics and Automation (ICRA) 2016, pp.2408 - 2415 | - |
dc.identifier.issn | 1050-4729 | - |
dc.identifier.uri | http://hdl.handle.net/10203/277783 | - |
dc.description.abstract | This paper proposes a simple model-free joint torque control strategy for hydraulic robots. The undesirable effect called natural velocity feedback effect is discussed by introducing mechanical impedance of the system. The proposed model-free joint torque control consists of internal-loop control and external-loop control (2 degrees of freedom (DOF)). Based on a mechanically represented hydraulic robot joint, the first-order internal-loop control is designed to reduce the mechanical impedance of a hydraulic robot joint in a passive manner. To improve joint torque tracking performance, a simple proportional-integral-derivative external-loop control is applied to the modified system by the internal-loop control. Robustness to external disturbance is demonstrated by transforming the proposed 2DOF control structure to the disturbance observer form. The proposed joint torque control strategy is validated on a 1DOF rotary hydraulic robot joint. | - |
dc.language | English | - |
dc.publisher | IEEE Robotics and Automation Society | - |
dc.title | Model-free joint torque control strategy for hydraulic robots | - |
dc.type | Conference | - |
dc.identifier.wosid | 000389516202012 | - |
dc.identifier.scopusid | 2-s2.0-84977598268 | - |
dc.type.rims | CONF | - |
dc.citation.beginningpage | 2408 | - |
dc.citation.endingpage | 2415 | - |
dc.citation.publicationname | IEEE International Conference on Robotics and Automation (ICRA) 2016 | - |
dc.identifier.conferencecountry | SW | - |
dc.identifier.conferencelocation | Stockholm Waterfront Congress Center | - |
dc.identifier.doi | 10.1109/ICRA.2016.7487391 | - |
dc.contributor.localauthor | Kim, Min Jun | - |
dc.contributor.nonIdAuthor | Lee, Woongyong | - |
dc.contributor.nonIdAuthor | Chung, Wan Kyun | - |
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