DC Field | Value | Language |
---|---|---|
dc.contributor.author | Jin, Maolin | ko |
dc.contributor.author | Kang, Sang Hoon | ko |
dc.contributor.author | Chang, Pybng Hun | ko |
dc.date.accessioned | 2009-11-11T05:10:30Z | - |
dc.date.available | 2009-11-11T05:10:30Z | - |
dc.date.created | 2012-02-06 | - |
dc.date.created | 2012-02-06 | - |
dc.date.issued | 2008-01 | - |
dc.identifier.citation | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, v.55, no.1, pp.258 - 269 | - |
dc.identifier.issn | 0278-0046 | - |
dc.identifier.uri | http://hdl.handle.net/10203/12410 | - |
dc.description.abstract | A simple robust compliant-motion-control technique is presented for a robot manipulator with nonlinear friction. The control technique incorporates both time-delay-estimation technique and ideal velocity feedback; the former is used to cancel out soft nonlinearities, and the latter serves to reduce the effect of hard nonlinearities, including Coulomb friction and stiction. The proposed controller has a simple structure and yet provides good online friction compensation without modeling friction. The robustness of the proposed method has been confirmed through comparisons with other controllers in 2-DOF SCARA-type industrial robot experiments. | - |
dc.language | English | - |
dc.language.iso | en_US | en |
dc.publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | - |
dc.subject | DIRECT-DRIVE ROBOT | - |
dc.subject | IMPEDANCE CONTROL | - |
dc.subject | ENVIRONMENTAL INFORMATION | - |
dc.subject | ADAPTIVE-CONTROL | - |
dc.subject | SERVO SYSTEMS | - |
dc.subject | MANIPULATORS | - |
dc.subject | COMPENSATION | - |
dc.title | Robust compliant motion control of robot with nonlinear friction using time-delay estimation | - |
dc.type | Article | - |
dc.identifier.wosid | 000252256500027 | - |
dc.identifier.scopusid | 2-s2.0-38349058658 | - |
dc.type.rims | ART | - |
dc.citation.volume | 55 | - |
dc.citation.issue | 1 | - |
dc.citation.beginningpage | 258 | - |
dc.citation.endingpage | 269 | - |
dc.citation.publicationname | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS | - |
dc.identifier.doi | 10.1109/TIE.2007.906132 | - |
dc.embargo.liftdate | 9999-12-31 | - |
dc.embargo.terms | 9999-12-31 | - |
dc.contributor.localauthor | Chang, Pybng Hun | - |
dc.contributor.nonIdAuthor | Jin, Maolin | - |
dc.contributor.nonIdAuthor | Kang, Sang Hoon | - |
dc.type.journalArticle | Article | - |
dc.subject.keywordAuthor | compliant motion control | - |
dc.subject.keywordAuthor | friction | - |
dc.subject.keywordAuthor | hard nonlinearity | - |
dc.subject.keywordAuthor | impedance control | - |
dc.subject.keywordAuthor | time-delay control (TDC) | - |
dc.subject.keywordPlus | DIRECT-DRIVE ROBOT | - |
dc.subject.keywordPlus | IMPEDANCE CONTROL | - |
dc.subject.keywordPlus | ENVIRONMENTAL INFORMATION | - |
dc.subject.keywordPlus | ADAPTIVE-CONTROL | - |
dc.subject.keywordPlus | SERVO SYSTEMS | - |
dc.subject.keywordPlus | MANIPULATORS | - |
dc.subject.keywordPlus | COMPENSATION | - |
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