BROWSE

Related Researcher

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

ITEM VIEW & DOWNLOAD

Robust compliant motion control of robot with nonlinear friction using time delay estimation

Cited 50 times inthomson ciCited 56 times inthomson ci
Title
Robust compliant motion control of robot with nonlinear friction using time delay estimation
Author
Jin, MaolinKang, Sang HoonChang, Pyung Hun
Keywords
Compliant motion control; Friction; Hard nonlinearity; Impedance control; Time-delay control (TDC)
Issue Date
200801
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Citation
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, v.55, no.1, pp.258 - 269
Abstract
A simple robust compliant-motion-control technique is presented for a robot manipulator with nonlinear friction. The control technique incorporates both time-delay-estimation technique and ideal velocity feedback; the former is used to cancel out soft nonlinearities, and the latter serves to reduce the effect of hard nonlinearities, including Coulomb friction and stiction. The proposed controller has a simple structure and yet provides good online friction compensation without modeling friction. The robustness of the proposed method has been confirmed through comparisons with other controllers in 2-DOF SCARA-type industrial robot experiments. © 2008 IEEE.
URI
Go to Link
DOI
http://dx.doi.org/10.1109/TIE.2007.906132
ISSN
0278-0046
Appears in Collections:
DHE_Journal Papers

find_unist can give you direct access to the published full text of this article. (UNISTARs only)

Show full item record

qr_code

  • mendeley

    citeulike

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

MENU