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Dynamic model based microrobot control

Title
Dynamic model based microrobot control
Authors
Kwak, Su HuiPark, Yong SuOh, Se Hoon
DGIST Authors
Oh, Se Hoon
Issue Date
2017-06-28
Citation
14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017, 624-625
Type
Conference
ISBN
978-150903055-2
ISSN
0000-0000
Abstract
In this paper, a novel control algorithm for a microrobot is proposed, which is Two-degree-of-freedom control based on dynamic model. Two-degree-of-freedom control which consists of Disturbance observer (DOB), feedback controller and feedforward controller, has been utilized widely in industry. For the application of this controller for the microrobot, dynamic characteristics of a microrobot is analyzed and modeled at first, then Two-degree-of-freedom controller is designed based on the derived dynamic model of the microrobot. Experiments verify better performance by the proposed controller over the conventional controller. © 2017 IEEE.
URI
http://hdl.handle.net/20.500.11750/5790
DOI
10.1109/URAI.2017.7992687
Publisher
Institute of Electrical and Electronics Engineers Inc.
Related Researcher
  • Author Oh, Se Hoon MCL(Motion Control Lab)
  • Research Interests Research on Human-friendly motion control; Development of human assistance;rehabilitation system; Design of robotic system based on human musculoskeletal system; Analysis of human walking dynamics and its application to robotics; 친인간적인 운동제어 설계연구; 인간 보조;재활 시스템의 설계 및 개발연구; 인간 근골격계에 기초한 로봇기구 개발연구; 보행운동 분석과 모델 및 로봇기구에의 응용
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Collection:
Robotics EngineeringMCL(Motion Control Lab)2. Conference Papers


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