DC Field | Value | Language |
---|---|---|
dc.contributor.author | 송진일 | ko |
dc.contributor.author | 최용훈 | ko |
dc.contributor.author | 유지환 | ko |
dc.contributor.author | 권동수 | ko |
dc.date.accessioned | 2013-03-02T23:27:21Z | - |
dc.date.available | 2013-03-02T23:27:21Z | - |
dc.date.created | 2012-02-06 | - |
dc.date.created | 2012-02-06 | - |
dc.date.created | 2012-02-06 | - |
dc.date.created | 2012-02-06 | - |
dc.date.issued | 2000-01 | - |
dc.identifier.citation | 한국정밀공학회지, v.17, no.1, pp.110 - 119 | - |
dc.identifier.issn | 1225-9071 | - |
dc.identifier.uri | http://hdl.handle.net/10203/76008 | - |
dc.description.abstract | This paper presents simple and effective nonlinear friction compensation methods. When the direction of position command reverses, the integrator output of the PID controller does not change the sign of its output instantaneously, due to friction at zero velocity, i.e. stiction resulting tracking errors, that results in continuous push even though the command direction has been changed. To overcome this problem, we attempt to reverse the sign of the integrator output as the sign of velocity changes. The effectiveness of this approach is demonstrated by experiments on a 3-PRPS (Prismatic-Revolute-Prismatic-Shperical joints) in-parallel 6-D.O.F manipulator. The control strategy has been analyzed for stability. Also discussed are disturbance observer and velocity observer approaches for friction compensation. | - |
dc.language | Korean | - |
dc.publisher | 한국정밀공학회 | - |
dc.title | 적분 제어기 정보를 이용한 비선형 마찰보상 | - |
dc.title.alternative | Nonlinear Friction Compensation using the Information of Integral Controller | - |
dc.type | Article | - |
dc.type.rims | ART | - |
dc.citation.volume | 17 | - |
dc.citation.issue | 1 | - |
dc.citation.beginningpage | 110 | - |
dc.citation.endingpage | 119 | - |
dc.citation.publicationname | 한국정밀공학회지 | - |
dc.contributor.localauthor | 유지환 | - |
dc.contributor.localauthor | 권동수 | - |
dc.contributor.nonIdAuthor | 송진일 | - |
dc.contributor.nonIdAuthor | 최용훈 | - |
dc.description.isOpenAccess | N | - |
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