DC Field | Value | Language |
---|---|---|
dc.contributor.author | Oh, YW | - |
dc.contributor.author | Chung, WK | - |
dc.date.accessioned | 2016-03-31T13:41:17Z | - |
dc.date.available | 2016-03-31T13:41:17Z | - |
dc.date.created | 2011-06-01 | - |
dc.date.issued | 1999-06 | - |
dc.identifier.issn | 1083-4435 | - |
dc.identifier.other | 1999-OAK-0000000781 | - |
dc.identifier.uri | https://oasis.postech.ac.kr/handle/2014.oak/20382 | - |
dc.description.abstract | In this paper, a robust motion control method for kinematically redundant manipulators is addressed to control the motion of the end-effector, as well as the null-space motion. To reduce the disturbance effects on the system performance, a new disturbance observer is proposed to improve the performance of the conventional structure, A minimal parameterization of the null space is performed to visualize the null-space motion explicitly using the weighted decomposition of joint space. Augmenting this null motion with conventional velocity relations, an extended task space formulation is obtained. The proposed disturbance observer is adopted in the extended task space formulation and a motion control method is devised based on the passivity concept. The performance of the proposed controller is verified through experiments with a three-link planar direct-drive manipulator. | - |
dc.description.statementofresponsibility | X | - |
dc.language | English | - |
dc.publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGI | - |
dc.relation.isPartOf | IEEE-ASME TRANSACTIONS ON MECHATRONICS | - |
dc.subject | disturbance observer | - |
dc.subject | inertially decoupled dynamics | - |
dc.subject | redundant manipulator | - |
dc.subject | ROBOT MANIPULATORS | - |
dc.title | Disturbance-observer-based motion control of redundant manipulators using inertially decoupled dynamics | - |
dc.type | Article | - |
dc.contributor.college | 기계공학과 | - |
dc.identifier.doi | 10.1109/3516.769540 | - |
dc.author.google | Oh, YW | - |
dc.author.google | Chung, WK | - |
dc.relation.volume | 4 | - |
dc.relation.issue | 2 | - |
dc.relation.startpage | 133 | - |
dc.relation.lastpage | 146 | - |
dc.contributor.id | 10077435 | - |
dc.relation.journal | IEEE-ASME TRANSACTIONS ON MECHATRONICS | - |
dc.relation.index | SCI급, SCOPUS 등재논문 | - |
dc.relation.sci | SCI | - |
dc.collections.name | Journal Papers | - |
dc.type.rims | ART | - |
dc.identifier.bibliographicCitation | IEEE-ASME TRANSACTIONS ON MECHATRONICS, v.4, no.2, pp.133 - 146 | - |
dc.identifier.wosid | 000080964000004 | - |
dc.date.tcdate | 2019-01-01 | - |
dc.citation.endPage | 146 | - |
dc.citation.number | 2 | - |
dc.citation.startPage | 133 | - |
dc.citation.title | IEEE-ASME TRANSACTIONS ON MECHATRONICS | - |
dc.citation.volume | 4 | - |
dc.contributor.affiliatedAuthor | Chung, WK | - |
dc.identifier.scopusid | 2-s2.0-0032641213 | - |
dc.description.journalClass | 1 | - |
dc.description.journalClass | 1 | - |
dc.description.wostc | 57 | - |
dc.type.docType | Article | - |
dc.subject.keywordAuthor | disturbance observer | - |
dc.subject.keywordAuthor | inertially decoupled dynamics | - |
dc.subject.keywordAuthor | redundant manipulator | - |
dc.relation.journalWebOfScienceCategory | Automation & Control Systems | - |
dc.relation.journalWebOfScienceCategory | Engineering, Manufacturing | - |
dc.relation.journalWebOfScienceCategory | Engineering, Electrical & Electronic | - |
dc.relation.journalWebOfScienceCategory | Engineering, Mechanical | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Automation & Control Systems | - |
dc.relation.journalResearchArea | Engineering | - |
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