DC Field | Value | Language |
---|---|---|
dc.contributor.author | Han D.K. | ko |
dc.contributor.author | Chang P.-H. | ko |
dc.date.accessioned | 2013-03-08T23:20:41Z | - |
dc.date.available | 2013-03-08T23:20:41Z | - |
dc.date.created | 2012-02-06 | - |
dc.date.created | 2012-02-06 | - |
dc.date.issued | 2010 | - |
dc.identifier.citation | JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY, v.24, no.8, pp.1743 - 1752 | - |
dc.identifier.issn | 1738-494X | - |
dc.identifier.uri | http://hdl.handle.net/10203/94632 | - |
dc.description.abstract | We propose an enhanced controller to improve the robustness of Time Delay Control (TDC) for a robot manipulator in the presence of nonlinear friction, such as Coulomb friction. The problem of TDC is first analyzed with TDC as a trajectory control for a robot manipulator in the presence of nonlinear friction. Gradient estimation is used to solve this problem. The proposed controller is called TDC with Gradient Estimator (TDCGE). Comparing with a prior research to improve the robustness of TDC, named TDCSA, the TDCGE is much simpler to design. Through 1 DOF linear motor experiment, it is verified that the TDCGE is more robust against nonlinear friction than TDC and the TDCGE has a similar robustness to the TDCSA. In addition, it is confirmed that the TDCGE is easily implemented in the multi degree-of-freedom robot manipulator through a 3 DOF spatial robot manipulator experiment. | - |
dc.language | English | - |
dc.publisher | KOREAN SOC MECHANICAL ENGINEERS | - |
dc.title | Robust tracking of robot manipulator with nonlinear friction using time delay control with gradient estimator | - |
dc.type | Article | - |
dc.identifier.wosid | 000280649500022 | - |
dc.identifier.scopusid | 2-s2.0-77955299787 | - |
dc.type.rims | ART | - |
dc.citation.volume | 24 | - |
dc.citation.issue | 8 | - |
dc.citation.beginningpage | 1743 | - |
dc.citation.endingpage | 1752 | - |
dc.citation.publicationname | JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY | - |
dc.identifier.doi | 10.1007/s12206-010-0516-z | - |
dc.contributor.localauthor | Chang P.-H. | - |
dc.contributor.nonIdAuthor | Han D.K. | - |
dc.type.journalArticle | Article | - |
dc.subject.keywordAuthor | Robust tracking control | - |
dc.subject.keywordAuthor | Robot manipulator | - |
dc.subject.keywordAuthor | Time delay control | - |
dc.subject.keywordAuthor | Nonlinear friction | - |
dc.subject.keywordAuthor | Gradient estimation | - |
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