DC Field | Value | Language |
---|---|---|
dc.contributor.author | Seok, J | - |
dc.contributor.author | Yoo, W | - |
dc.contributor.author | Won, S | - |
dc.date.accessioned | 2016-03-31T08:48:13Z | - |
dc.date.available | 2016-03-31T08:48:13Z | - |
dc.date.created | 2013-03-05 | - |
dc.date.issued | 2012-08 | - |
dc.identifier.issn | 1598-6446 | - |
dc.identifier.other | 2012-OAK-0000026475 | - |
dc.identifier.uri | https://oasis.postech.ac.kr/handle/2014.oak/16084 | - |
dc.description.abstract | We propose an inertia-related coupling torque (IRCT) compensator for disturbance observer (DOB)-based position control of multi-link robotic manipulators. The proposed compensator reduces the DOB estimation error that is due to input with high-frequency components. To analyze the compensated system, the state space model is converted to singular perturbation form and the stability of the proposed system is also addressed. Numerical simulations and experimental results show the effectiveness of the proposed compensator. | - |
dc.description.statementofresponsibility | X | - |
dc.language | English | - |
dc.publisher | ICROS | - |
dc.relation.isPartOf | International Journal of Control, Automation, and Systems | - |
dc.subject | Disturbance observer | - |
dc.subject | position control | - |
dc.subject | robotic manipulator | - |
dc.subject | singular perturbation | - |
dc.subject | NONLINEAR-SYSTEMS | - |
dc.subject | MOTION CONTROL | - |
dc.subject | ROBUST-CONTROL | - |
dc.subject | DESIGN | - |
dc.subject | PERFORMANCE | - |
dc.subject | FREEDOM | - |
dc.title | Inertia-related Coupling Torque Compensator for Disturbance Observer based Position Control of Robotic Manipulators | - |
dc.type | Article | - |
dc.contributor.college | 전자전기공학과 | - |
dc.identifier.doi | 10.1007/S12555-012-0411-8 | - |
dc.author.google | Seok, J | - |
dc.author.google | Yoo, W | - |
dc.author.google | Won, S | - |
dc.relation.volume | 10 | - |
dc.relation.issue | 4 | - |
dc.relation.startpage | 753 | - |
dc.relation.lastpage | 760 | - |
dc.contributor.id | 10083575 | - |
dc.relation.journal | International Journal of Control, Automation, and Systems | - |
dc.relation.index | SCI급, SCOPUS 등재논문 | - |
dc.relation.sci | SCI | - |
dc.collections.name | Journal Papers | - |
dc.type.rims | ART | - |
dc.identifier.bibliographicCitation | International Journal of Control, Automation, and Systems, v.10, no.4, pp.753 - 760 | - |
dc.identifier.wosid | 000306877000011 | - |
dc.date.tcdate | 2019-01-01 | - |
dc.citation.endPage | 760 | - |
dc.citation.number | 4 | - |
dc.citation.startPage | 753 | - |
dc.citation.title | International Journal of Control, Automation, and Systems | - |
dc.citation.volume | 10 | - |
dc.contributor.affiliatedAuthor | Won, S | - |
dc.identifier.scopusid | 2-s2.0-84866134621 | - |
dc.description.journalClass | 1 | - |
dc.description.journalClass | 1 | - |
dc.description.wostc | 8 | - |
dc.description.scptc | 8 | * |
dc.date.scptcdate | 2018-05-121 | * |
dc.type.docType | Article | - |
dc.subject.keywordPlus | NONLINEAR-SYSTEMS | - |
dc.subject.keywordPlus | MOTION CONTROL | - |
dc.subject.keywordPlus | PERFORMANCE | - |
dc.subject.keywordPlus | FREEDOM | - |
dc.subject.keywordPlus | DESIGN | - |
dc.subject.keywordAuthor | Disturbance observer | - |
dc.subject.keywordAuthor | position control | - |
dc.subject.keywordAuthor | robotic manipulator | - |
dc.subject.keywordAuthor | singular perturbation | - |
dc.relation.journalWebOfScienceCategory | Automation & Control Systems | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.description.journalRegisteredClass | kci | - |
dc.relation.journalResearchArea | Automation & Control Systems | - |
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