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| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | 오세훈 | - |
| dc.contributor.author | 김범길 | - |
| dc.contributor.author | Kangwagye Samuel | - |
| dc.contributor.author | 이건국 | - |
| dc.date.accessioned | 2025-07-30T11:10:10Z | - |
| dc.date.available | 2025-07-30T11:10:10Z | - |
| dc.identifier.uri | https://scholar.dgist.ac.kr/handle/20.500.11750/58816 | - |
| dc.description.abstract | Provided are a disturbance observer integrated with an outer-loop for a workspace, and a robot including same. The disturbance observer is implemented outside a position and velocity control loop within a workspace, and integrates a velocity command value, a velocity measurement value, an inverse model of a velocity control system, and a force/torque sensor (F/T sensor) measurement value to obtain a disturbance estimation value, wherein the disturbance estimation value is expressed by the following equation. D^v(s) is a disturbance estimation value, Q(s) is a Q filter, Dn(s) is a nominal model, Vm(s) is a velocity measurement value, Vi(s) is a velocity command value, A(s) is an admittance target value, and Fm(s) is a force measurement value. | - |
| dc.title | DISTURBANCE OBSERVER INTEGRATED WITH OUTER-LOOP FOR WORKSPACE, AND ROBOT INCLUDING SAME | - |
| dc.title.alternative | TASK SPACE OUTER-LOOP INTEGRATED DISTURBANCE OBSERVER AND ROBOT INCLUDING THE SAME | - |
| dc.type | Patent | - |
| dc.publisher.country | UN | - |
| dc.identifier.patentApplicationNumber | PCT/KR2024/000738 | - |
| dc.date.application | 2024-01-16 | - |
| dc.identifier.patentRegistrationNumber | 2025110343 | - |
| dc.date.registration | 2025-05-30 | - |
| dc.contributor.assignee | NAU ROBOTICS CO.,LTD,주식회사 나우로보틱스,DAEGU GYEONGBUK INSTITUTE OF SCIENCE AND TECHNOLOGY,재단법인대구경북과학기술원 | - |
| dc.type.iprs | 특허 | - |