https://scholar.dgist.ac.kr/handle/20.500.11750/195 2026-06-10T23:28:21Z https://scholar.dgist.ac.kr/handle/20.500.11750/60377 Title: 유연관절 로봇의 제어시스템 Author(s): 이덕진; 오세훈 https://scholar.dgist.ac.kr/handle/20.500.11750/60051 Title: Robust Orientation Control of Robot Manipulator Using Orientation Disturbance Observer Author(s): Choi, Kiyoung; Song, Junho; Yun, Wonbum; Oh, Sehoon Abstract: This paper presents a robust control algorithm for precise orientation control of robot manipulators using a disturbance observer (DOB) specifically designed for orientation dynamics. Our approach addresses the challenges of 3D orientation control by incorporating various orientation representations, such as Euler angles, quaternions, and exponential coordinates, and analyzing their impact on DOB performance. Through theoretical analysis and experimental validation, we demonstrate the effectiveness of our method in achieving high-precision orientation control under uncertainties and disturbances. This work offers a comprehensive framework for robust orientation control, advancing the application of DOB in complex robotic tasks. 2025-05-19T15:00:00Z https://scholar.dgist.ac.kr/handle/20.500.11750/60048 Title: TEWD-DFO: A Soft-Soil-Aware Driving Force Observer Using Terramechanics-Enhanced Wheel Dynamics for Planetary Rover Author(s): Yeo, Changmin; Görner, Martin; Seo, Younghoon; Hong, Jinsong; Oh, Sehoon Abstract: Accurate driving force estimation is critical for ground vehicles operating in soft-soil terrains, where complex wheel-soil interactions involving sinkage and shear effects significantly affect vehicle mobility. Conventional Driving Force Observers (DFOs), initially developed for rigid road conditions, fail to account for these terrain-specific nonlinearities, leading to estimation offset and substantial errors. To overcome this limitation, this paper proposes a Terramechanics-Enhanced Wheel Dynamics (TEWD) model that explicitly integrates soil resistance derived from established wheel-soil interaction models. Based on the TEWD model, we develop a new driving force observer, termed TEWD-DFO, that estimates driving forces solely from internal vehicle signals without requiring additional external force sensors. The proposed method is validated through simulations conducted in the ProjectChrono environment under soft-soil conditions. Simulation results demonstrate that the TEWD-DFO significantly reduces estimation offsets and achieves robust driving force estimation performance, indicating its potential applicability in enhancing vehicle stability and control accuracy in realistic soft-soil scenarios. © 2025 IEEE. 2025-10-16T15:00:00Z https://scholar.dgist.ac.kr/handle/20.500.11750/59890 Title: オイルパン構造及びこれを備えたエンジン Author(s): 오세훈; 김상균; 강민수; 최원혁; 이정엽