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- Kang, Sang Hoon
- Robotics and Rehabilitation Engineering Lab.
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| DC Field | Value | Language |
|---|---|---|
| dc.citation.endPage | 269 | - |
| dc.citation.number | 1 | - |
| dc.citation.startPage | 258 | - |
| dc.citation.title | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS | - |
| dc.citation.volume | 55 | - |
| dc.contributor.author | Jin, Maolin | - |
| dc.contributor.author | Kang, Sang Hoon | - |
| dc.contributor.author | Chang, Pyung Hun | - |
| dc.date.accessioned | 2023-12-22T09:06:12Z | - |
| dc.date.available | 2023-12-22T09:06:12Z | - |
| dc.date.created | 2015-08-06 | - |
| dc.date.issued | 2008-01 | - |
| dc.description.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. | - |
| dc.identifier.bibliographicCitation | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, v.55, no.1, pp.258 - 269 | - |
| dc.identifier.doi | 10.1109/TIE.2007.906132 | - |
| dc.identifier.issn | 0278-0046 | - |
| dc.identifier.scopusid | 2-s2.0-38349058658 | - |
| dc.identifier.uri | https://scholarworks.unist.ac.kr/handle/201301/13414 | - |
| dc.identifier.url | http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=4392475 | - |
| dc.identifier.wosid | 000252256500027 | - |
| dc.language | 영어 | - |
| dc.publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | - |
| dc.title | Robust compliant motion control of robot with nonlinear friction using time delay estimation | - |
| dc.type | Article | - |
| dc.description.journalRegisteredClass | scopus | - |
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