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