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Disturbance-Observer-Based PD Control of Electro-Hydrostatically Actuated Flexible Joint Robots

Lee, Woongyong and Kim, MinJun and Chung, Wan Kyun (2017) Disturbance-Observer-Based PD Control of Electro-Hydrostatically Actuated Flexible Joint Robots. In: IEEE International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, Canada.

Full text not available from this repository.

Abstract

A position-based proportional derivative (PD) controller is a well-known controller to be able to render compliant behaviors to a robot and it is usually used with a friction compensator for control performance improvement. Despite the previous methods are effective to the actuation systems with mechanical transmissions, they cannot be applied to the actuation systems that use fluid transmissions owing to their characteristics caused by fluid parameters. To solve this problem, this paper proposes a stability-guaranteed PD control methods incorporating two observers; one is for the observation of friction and the other is for the observation of flexible joint effects caused by fluid compliance and internal leakage. This allows the robots with fluid transmissions to asymptotically converge to the desired position. The proposed approach was verified through simulations and experiments.

Item URL in elib:https://elib.dlr.de/113135/
Document Type:Conference or Workshop Item (Speech)
Title:Disturbance-Observer-Based PD Control of Electro-Hydrostatically Actuated Flexible Joint Robots
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Lee, WoongyongPOSTECHUNSPECIFIED
Kim, MinJunMinJun.Kim (at) dlr.deUNSPECIFIED
Chung, Wan KyunPOSTECHUNSPECIFIED
Date:19 July 2017
Journal or Publication Title:IEEE International Conference on Intelligent Robots and Systems
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
Status:Published
Keywords:PD Control, Hydraulic robot, Disturbance observer
Event Title:IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Event Location:Vancouver, Canada
Event Type:international Conference
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Robotdynamik & Simulation
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Kim, MinJun
Deposited On:19 Jul 2017 15:41
Last Modified:11 Feb 2018 11:36

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