Singularity-Free Workspace Nonlinear Disturbance Observer for Flexible Joint Robot
- Title
- Singularity-Free Workspace Nonlinear Disturbance Observer for Flexible Joint Robot
- Alternative Title
- 유연 관절 로봇: 회전작업 공간에서의 특이성을 제거한 비선형 외란관측기 기반 강인제어기 개발
- Author(s)
- Lee, Deokjiin
- DGIST Authors
- Lee, Deokjiin ; Oh, Sehoon ; Park, Sukho
- Advisor
- 오세훈
- Co-Advisor(s)
- Sukho Park
- Issued Date
- 2021
- Awarded Date
- 2021/08
- Type
- Thesis
- Description
- 유연관절 로봇(Flexible Joint Robot), 유연성(Flexibility), 특이성(Singularity), 회전작업공간 비선형 외란 관측기(Rotating Workspace Nonlinear Disturbance Observer)
- URI
-
http://dgist.dcollection.net/common/orgView/200000497161
http://hdl.handle.net/20.500.11750/16609
- Degree
- Master
- Department
- Robotics Engineering
- Publisher
- DGIST
- Related Researcher
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Oh, Sehoon
- 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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- Files in This Item:
-
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- Appears in Collections:
- Department of Robotics and Mechatronics Engineering Theses Master
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