DC Field | Value | Language |
---|---|---|
dc.contributor.author | Kim, Min Jun | ko |
dc.contributor.author | Chung, Wan Kyun | ko |
dc.date.accessioned | 2020-11-30T23:10:21Z | - |
dc.date.available | 2020-11-30T23:10:21Z | - |
dc.date.created | 2020-11-24 | - |
dc.date.created | 2020-11-24 | - |
dc.date.issued | 2014-09-15 | - |
dc.identifier.citation | IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014, pp.2381 - 2388 | - |
dc.identifier.issn | 2153-0858 | - |
dc.identifier.uri | http://hdl.handle.net/10203/277792 | - |
dc.description.abstract | This paper proposes a robust control scheme based on a disturbance observer (DOB) for flexible joint robots. In this paper, the DOB is applied only on the motor-side dynamics of the robot, and the uncertainties on the motor-side are successfully eliminated. It is shown that, to guarantee the stability, the estimated motor-side position should be fed back into the controller, which is different from usual setup of the DOB. The experiments/simulations show that the estimated signal feedback indeed guarantees the stability, whereas the measured signal feedback does not. | - |
dc.language | English | - |
dc.publisher | IEEE Robotics and Automation Society (RAS) | - |
dc.title | Robust control of flexible joint robots based on motor-side dynamics reshaping using disturbance observer (DOB) | - |
dc.type | Conference | - |
dc.identifier.wosid | 000349834602074 | - |
dc.identifier.scopusid | 2-s2.0-84911492749 | - |
dc.type.rims | CONF | - |
dc.citation.beginningpage | 2381 | - |
dc.citation.endingpage | 2388 | - |
dc.citation.publicationname | IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 | - |
dc.identifier.conferencecountry | US | - |
dc.identifier.conferencelocation | Palmer House Hilton Hotel, Chicago | - |
dc.identifier.doi | 10.1109/IROS.2014.6942885 | - |
dc.contributor.localauthor | Kim, Min Jun | - |
dc.contributor.nonIdAuthor | Chung, Wan Kyun | - |
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