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 | 2020-11-30T23:50:21Z | - |
dc.date.available | 2020-11-30T23:50:21Z | - |
dc.date.created | 2020-11-24 | - |
dc.date.issued | 2016-10-10 | - |
dc.identifier.citation | IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, pp.368 - 375 | - |
dc.identifier.issn | 2153-0858 | - |
dc.identifier.uri | http://hdl.handle.net/10203/277797 | - |
dc.description.abstract | This paper proposes joint torque servo control of an electro-hydrostatic actuator (EHA) for effective dynamic control of robot manipulators. In the control design, the fluid parameters are not considered to develop a simple lowlevel controller used for multi degree-of-freedom (DOF) robot manipulators. Instead, mechanical impedance, which represents the effect of joint velocity on joint torque, is reduced using a disturbance observer. The torque tracking performance of the modified system is then improved by a simple proportionalintegralderivative control. When evaluated on two 1-DOF EHAs, the proposed controller guaranteed robustness to external disturbances and variations in the fluid parameters, even though the fluid parameters are not considered. | - |
dc.language | English | - |
dc.publisher | IEEE Robotics and Automation Society (RAS) | - |
dc.title | Joint torque servo control of electro-hydrostatic actuators for high torque-to-weight ratio robot control | - |
dc.type | Conference | - |
dc.identifier.wosid | 000391921700055 | - |
dc.identifier.scopusid | 2-s2.0-85006427620 | - |
dc.type.rims | CONF | - |
dc.citation.beginningpage | 368 | - |
dc.citation.endingpage | 375 | - |
dc.citation.publicationname | IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 | - |
dc.identifier.conferencecountry | KO | - |
dc.identifier.conferencelocation | Daejeon Convention Center | - |
dc.identifier.doi | 10.1109/IROS.2016.7759081 | - |
dc.contributor.localauthor | Kim, Min Jun | - |
dc.contributor.nonIdAuthor | Lee, Woongyong | - |
dc.contributor.nonIdAuthor | Chung, Wan Kyun | - |
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