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Design of reduced order disturbance observer of series elastic actuator for robust force control

Title
Design of reduced order disturbance observer of series elastic actuator for robust force control
Authors
Lee, HyunwookOh, Sehoon
DGIST Authors
Oh, Sehoon
Issue Date
2018-03-09
Citation
15th IEEE International Workshop on Advanced Motion Control, AMC 2018, 663-668
Type
Conference
ISBN
9781538619469
Abstract
This paper proposes a new Reduced Order Disturbance OBserver(RODOB) for Series Elastic Actuators (SEAs). The SEAs assess the externally applied force by measuring the spring deformation. To control SEAs, Disturbance OBserver (DOB) has been widely researched to reject nonlinear disturbances and nominalize target plants to nominal models. However, parameter identification of the plant has a complicated process and demands expensive device. To address these identification difficulties, a novel DOB design which is simple and easy to apply is proposed. © 2018 IEEE.
URI
http://hdl.handle.net/20.500.11750/8997
DOI
10.1109/AMC.2019.8371173
Publisher
Institute of Electrical and Electronics Engineers Inc.
Related Researcher
  • Author Oh, Sehoon 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:
Department of Robotics EngineeringMCL(Motion Control Lab)2. Conference Papers


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