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

DGIST Authors

Lee, Deokjiin ; Oh, Sehoon ; Park, Sukho

Advisor

오세훈

Co-Advisor(s)

Sukho Park

Issued Date

2021

Awarded Date

2021/08

Citation

Lee, Deokjiin. (2021). Singularity-Free Workspace Nonlinear Disturbance Observer for Flexible Joint Robot. doi: 10.22677/thesis.200000497161

Type

Thesis

Subject

유연관절 로봇(Flexible Joint Robot), 유연성(Flexibility), 특이성(Singularity), 회전작업공간 비선형 외란 관측기(Rotating Workspace Nonlinear Disturbance Observer)

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

DOI

10.22677/thesis.200000497161

Degree

Master

Department

Robotics Engineering

Publisher

DGIST

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