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, KEEHOON | - |
dc.contributor.author | CHUNG, WAN KYUN | - |
dc.date.accessioned | 2020-09-18T09:54:55Z | - |
dc.date.available | 2020-09-18T09:54:55Z | - |
dc.date.created | 2020-08-11 | - |
dc.date.issued | 2020-06-01 | - |
dc.identifier.uri | https://oasis.postech.ac.kr/handle/2014.oak/104164 | - |
dc.description.abstract | This paper presents a robust compliance control scheme for an electro-hydraulic robot manipulator with an electrohydraulic torque actuators (EHTAs) and joint torque sensors. The EHTA, a torque-sourced hydraulic actuator, consists of electrohydraulic 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-degreeof-freedom experiments. | - |
dc.language | English | - |
dc.publisher | IEEE Robotics and Automation Society | - |
dc.relation.isPartOf | IEEE International Conference on Robotics and Automation | - |
dc.relation.isPartOf | 2020 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | - |
dc.title | Passivity-Based Robust Compliance Control of Electro-Hydraulic Robot Manipulators With Joint Angle Limit | - |
dc.type | Conference | - |
dc.type.rims | CONF | - |
dc.identifier.bibliographicCitation | IEEE International Conference on Robotics and Automation | - |
dc.citation.conferenceDate | 2020-05-31 | - |
dc.citation.conferencePlace | FR | - |
dc.citation.conferencePlace | Paris | - |
dc.citation.title | IEEE International Conference on Robotics and Automation | - |
dc.contributor.affiliatedAuthor | LEE, WOONG YONG | - |
dc.contributor.affiliatedAuthor | YOO, SUN KYUM | - |
dc.contributor.affiliatedAuthor | NAM, SEOK HO | - |
dc.contributor.affiliatedAuthor | KIM, KEEHOON | - |
dc.contributor.affiliatedAuthor | CHUNG, WAN KYUN | - |
dc.description.journalClass | 1 | - |
dc.description.journalClass | 1 | - |
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