Robust control using recursive design method for flexible joint robot manipulator
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Yim, Jong Guk | - |
dc.contributor.author | Yeon, Je Sung | - |
dc.contributor.author | Park, Jong Hyeon | - |
dc.contributor.author | Lee, Sang Hun | - |
dc.contributor.author | Hur, Jong Sung | - |
dc.date.accessioned | 2022-12-21T08:40:50Z | - |
dc.date.available | 2022-12-21T08:40:50Z | - |
dc.date.created | 2022-09-16 | - |
dc.date.issued | 2007-04 | - |
dc.identifier.issn | 1050-4729 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/180237 | - |
dc.description.abstract | Flexible joint robot manipulators can be decomposed into two cascaded subsystems, a series connection of robot link dynamics and joint dynamics. For these flexible manipulators, we propose the robust controller using a recursive design method. The recursive design procedures are constructive and contain two steps. First, a fictitious robust controller for the robot link dynamics is designed as if the link dynamics had an independent control. As the fictitious control, a nonlinear H∞ control using the energy dissipation is designed in the sense of L2 -gain attenuation from the disturbance caused by uncertainties to performance. Second, a real robust control is designed recursively by using a Lyapunov's second method. The designed robust control is applied to a 2 DOF robot manipulator with joint flexibilities. | - |
dc.language | 영어 | - |
dc.language.iso | en | - |
dc.publisher | IEEE | - |
dc.title | Robust control using recursive design method for flexible joint robot manipulator | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Park, Jong Hyeon | - |
dc.identifier.doi | 10.1109/ROBOT.2007.364062 | - |
dc.identifier.scopusid | 2-s2.0-36348980011 | - |
dc.identifier.bibliographicCitation | Proceedings - IEEE International Conference on Robotics and Automation, pp.3805 - 3810 | - |
dc.relation.isPartOf | Proceedings - IEEE International Conference on Robotics and Automation | - |
dc.citation.title | Proceedings - IEEE International Conference on Robotics and Automation | - |
dc.citation.startPage | 3805 | - |
dc.citation.endPage | 3810 | - |
dc.type.rims | ART | - |
dc.type.docType | Conference Paper | - |
dc.description.journalClass | 1 | - |
dc.description.isOpenAccess | N | - |
dc.description.journalRegisteredClass | scopus | - |
dc.subject.keywordPlus | Energy dissipation | - |
dc.subject.keywordPlus | Lyapunov methods | - |
dc.subject.keywordPlus | Robotics | - |
dc.subject.keywordPlus | Robots | - |
dc.subject.keywordPlus | Robust control | - |
dc.subject.keywordPlus | Backstepping control | - |
dc.subject.keywordPlus | Flexible joint robot manipulators | - |
dc.subject.keywordPlus | Joint dynamics | - |
dc.subject.keywordPlus | Nonlinear Matrix Inequality | - |
dc.subject.keywordPlus | Robot link dynamics | - |
dc.subject.keywordPlus | Manipulators | - |
dc.subject.keywordAuthor | Backstepping control | - |
dc.subject.keywordAuthor | Flexible joint | - |
dc.subject.keywordAuthor | H�� control | - |
dc.subject.keywordAuthor | NLMI (Nonlinear Matrix Inequality) | - |
dc.subject.keywordAuthor | Robust control | - |
dc.identifier.url | https://ieeexplore.ieee.org/document/4209680 | - |
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