DC Field | Value | Language |
---|---|---|
dc.contributor.author | LEE, WOONG YONG | - |
dc.contributor.author | YOO, SUN KYUM | - |
dc.contributor.author | NAM, SEOK HO | - |
dc.contributor.author | KIM, KEE HOON | - |
dc.contributor.author | CHUNG, WAN KYUN | - |
dc.date.accessioned | 2020-03-16T04:50:10Z | - |
dc.date.available | 2020-03-16T04:50:10Z | - |
dc.date.created | 2020-03-10 | - |
dc.date.issued | 2020-04 | - |
dc.identifier.issn | 2377-3766 | - |
dc.identifier.uri | https://oasis.postech.ac.kr/handle/2014.oak/101493 | - |
dc.description.abstract | This paper presents a robust compliance control scheme for an electro-hydraulic robot manipulator with an electro-hydraulic torque actuators (EHTAs) and joint torque sensors. The EHTA, a torque-sourced hydraulic actuator, consists of electro-hydraulic backdrivable servovalve and a rotary hydraulic vane actuator and it allows us to design controllers similar to those for robot manipulators with electric motors. However, unlike in electric motors, the EHTA has a limited rotational angle and this may lead to instability when using a non-passive robust controller that generates the energy. As a solution to this problem, this paper proposes a robust two-loop control structure that has a passivity-based disturbance observer as an inner-loop controller and a nominal state feedback compliance controller as an outer-loop controller. The proposed control method was evaluated through single-degree-of-freedom experiments. | - |
dc.language | English | - |
dc.publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | - |
dc.relation.isPartOf | IEEE ROBOTICS AND AUTOMATION LETTERS | - |
dc.title | Passivity-Based Robust Compliance Control of Electro-Hydraulic Robot Manipulators With Joint Angle Limit | - |
dc.type | Article | - |
dc.identifier.doi | 10.1109/LRA.2020.2975724 | - |
dc.type.rims | ART | - |
dc.identifier.bibliographicCitation | IEEE ROBOTICS AND AUTOMATION LETTERS, v.5, no.2, pp.3190 - 3197 | - |
dc.identifier.wosid | 000526704900008 | - |
dc.citation.endPage | 3197 | - |
dc.citation.number | 2 | - |
dc.citation.startPage | 3190 | - |
dc.citation.title | IEEE ROBOTICS AND AUTOMATION LETTERS | - |
dc.citation.volume | 5 | - |
dc.contributor.affiliatedAuthor | LEE, WOONG YONG | - |
dc.contributor.affiliatedAuthor | YOO, SUN KYUM | - |
dc.contributor.affiliatedAuthor | NAM, SEOK HO | - |
dc.contributor.affiliatedAuthor | KIM, KEE HOON | - |
dc.contributor.affiliatedAuthor | CHUNG, WAN KYUN | - |
dc.identifier.scopusid | 2-s2.0-85081649914 | - |
dc.description.journalClass | 1 | - |
dc.description.journalClass | 1 | - |
dc.description.isOpenAccess | N | - |
dc.type.docType | Article | - |
dc.subject.keywordPlus | IMPEDANCE CONTROL | - |
dc.subject.keywordPlus | POSITION | - |
dc.subject.keywordPlus | DESIGN | - |
dc.subject.keywordPlus | TORQUE | - |
dc.subject.keywordAuthor | Electro-hydraulic torque actuator | - |
dc.subject.keywordAuthor | passivity-based disturbance observer | - |
dc.subject.keywordAuthor | energy tank | - |
dc.subject.keywordAuthor | nominal state feedback compliance control | - |
dc.relation.journalWebOfScienceCategory | Robotics | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Robotics | - |
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