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Author

Kang, Sang Hoon
Robotics and Rehab. Engineering Lab (R2EL)
Research Interests
  • Rehabilitation Robotics & Mechatronic Tools, Biomechanics for Rehabilitation, Human Limb Impedance Estimation, Assistive and Healthcare robotics, Robust Motion/Force Control

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A solution to the accuracy/robustness dilemma in impedance control

Cited 27 times inthomson ciCited 33 times inthomson ci
Title
A solution to the accuracy/robustness dilemma in impedance control
Author
Kang, Sang HoonJin, MaolinChang, Pyung Hun
Keywords
Force control; Impedance control; Internal model control (IMC); Time-delay control
Issue Date
200906
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Citation
IEEE-ASME TRANSACTIONS ON MECHATRONICS, v.14, no.3, pp.282 - 294
Abstract
It has been reported that, in impedance control, there exists a dilemma between impedance accuracy and robustness against modeling error. As a solution to this dilemma, an accurate and robust impedance control technique is developed based on internal model control structure and time-delay estimation: the former injects desired impedance and corrects modeling error, the latter estimates and compensates the nonlinear dynamics of robot manipulators. Owing to the simple structure, the proposed control is designed without requiring entire model computation or complex algorithms. In 2-DOF SCARA-type robot experiments, the accuracy and robustness of the proposed control are confirmed through comparisons with other competent controllers including impedance control with disturbance observer. © 2009 IEEE.
URI
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DOI
http://dx.doi.org/10.1109/TMECH.2008.2005524
ISSN
1083-4435
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