Matches in SemOpenAlex for { <https://semopenalex.org/work/W2315392316> ?p ?o ?g. }
Showing items 1 to 72 of
72
with 100 items per page.
- W2315392316 endingPage "1242" @default.
- W2315392316 startingPage "1235" @default.
- W2315392316 abstract "Since direct drive (DD) motors directly drive their loads without reduction gears or ball screws, high stiffness and little friction loss are expected. However, DD motors are more sensitive to the disturbance and the parameter variation than motors with reduction gears. This paper proposes a simple and high performance hybrid position/force control of robots based on disturbance compensation by using the disturbance observer in task coordinate space. The disturbance observer linealizes system of robot manipulators in task coordinate space and realizes acceleration control. To realize the strict acceleration control, the disturbance observer whose input is a position signal by simple computation, works as if it were a disturbance detector. The inverse kinematics can be simplified, because the disturbance observer in task coordinate space compensates not only the disturbance but also the error due to the simplification of the inverse kinematics. The new strategy is applied to a three-degrees-of freedom direct drive robot. The robust and simple hybrid position/force control is realized experimentally." @default.
- W2315392316 created "2016-06-24" @default.
- W2315392316 creator A5000723708 @default.
- W2315392316 creator A5014016984 @default.
- W2315392316 creator A5022011180 @default.
- W2315392316 creator A5077486302 @default.
- W2315392316 date "1992-01-01" @default.
- W2315392316 modified "2023-09-24" @default.
- W2315392316 title "Hybrid Position/Force Control of Direct Drive Robots by Disturbance Observer in Task Coordinate Space." @default.
- W2315392316 cites W2002519566 @default.
- W2315392316 cites W2006813793 @default.
- W2315392316 cites W2132294818 @default.
- W2315392316 cites W2156136425 @default.
- W2315392316 doi "https://doi.org/10.1541/ieejias.112.1235" @default.
- W2315392316 hasPublicationYear "1992" @default.
- W2315392316 type Work @default.
- W2315392316 sameAs 2315392316 @default.
- W2315392316 citedByCount "3" @default.
- W2315392316 countsByYear W23153923162020 @default.
- W2315392316 crossrefType "journal-article" @default.
- W2315392316 hasAuthorship W2315392316A5000723708 @default.
- W2315392316 hasAuthorship W2315392316A5014016984 @default.
- W2315392316 hasAuthorship W2315392316A5022011180 @default.
- W2315392316 hasAuthorship W2315392316A5077486302 @default.
- W2315392316 hasBestOaLocation W23153923161 @default.
- W2315392316 hasConcept C121332964 @default.
- W2315392316 hasConcept C127413603 @default.
- W2315392316 hasConcept C133731056 @default.
- W2315392316 hasConcept C154945302 @default.
- W2315392316 hasConcept C17816587 @default.
- W2315392316 hasConcept C2775924081 @default.
- W2315392316 hasConcept C2780704645 @default.
- W2315392316 hasConcept C39920418 @default.
- W2315392316 hasConcept C41008148 @default.
- W2315392316 hasConcept C47446073 @default.
- W2315392316 hasConcept C62520636 @default.
- W2315392316 hasConcept C74650414 @default.
- W2315392316 hasConcept C90509273 @default.
- W2315392316 hasConceptScore W2315392316C121332964 @default.
- W2315392316 hasConceptScore W2315392316C127413603 @default.
- W2315392316 hasConceptScore W2315392316C133731056 @default.
- W2315392316 hasConceptScore W2315392316C154945302 @default.
- W2315392316 hasConceptScore W2315392316C17816587 @default.
- W2315392316 hasConceptScore W2315392316C2775924081 @default.
- W2315392316 hasConceptScore W2315392316C2780704645 @default.
- W2315392316 hasConceptScore W2315392316C39920418 @default.
- W2315392316 hasConceptScore W2315392316C41008148 @default.
- W2315392316 hasConceptScore W2315392316C47446073 @default.
- W2315392316 hasConceptScore W2315392316C62520636 @default.
- W2315392316 hasConceptScore W2315392316C74650414 @default.
- W2315392316 hasConceptScore W2315392316C90509273 @default.
- W2315392316 hasIssue "12" @default.
- W2315392316 hasLocation W23153923161 @default.
- W2315392316 hasOpenAccess W2315392316 @default.
- W2315392316 hasPrimaryLocation W23153923161 @default.
- W2315392316 hasRelatedWork W1982932202 @default.
- W2315392316 hasRelatedWork W2084494155 @default.
- W2315392316 hasRelatedWork W2119963650 @default.
- W2315392316 hasRelatedWork W2124274328 @default.
- W2315392316 hasRelatedWork W2172188558 @default.
- W2315392316 hasRelatedWork W2363760910 @default.
- W2315392316 hasRelatedWork W2578303201 @default.
- W2315392316 hasRelatedWork W2883022222 @default.
- W2315392316 hasRelatedWork W2899084033 @default.
- W2315392316 hasRelatedWork W3163162109 @default.
- W2315392316 hasVolume "112" @default.
- W2315392316 isParatext "false" @default.
- W2315392316 isRetracted "false" @default.
- W2315392316 magId "2315392316" @default.
- W2315392316 workType "article" @default.