Enhanced Time Delay Control and Its Applications to Force Control of Robot Manipulators

• 영문명: Enhanced Time Delay Control and Its Applications to Force Control of Robot Manipulators
• 발행기관: 한국과학기술원 인간친화 복지 로봇 시스템 연구센터
• 저자명: Joon-Young Park Pyung-Hun Chang
• 간행물 정보: 『International Journal of Assistive Robotics and Mechatronics』International Journal of Human-friendly Welfare Robotic Systems Vol.4 No.2, 44~50쪽, 전체 7쪽
• 주제분류: 공학 > 제어계측공학
• 파일형태: PDF
• 발행일자: 2003.06.01

영문 초록

  The Time Delay Control (TDC) has been proposed as a promising technique in the robust control area and has been successfully applied to robot manipulators. We have observed, however, that the force response of TDC may not track well the desired dynamics (reference model) in situations that the environment, with which a robot interacts, is very stiff. Due to the high stiffness of the environment, the unknown dynamics undergoes rapid changes that the TDC is unable to estimate accurately at the given sampling frequency.
  In order to solve this problem, we propose the Enhanced Time Delay Control (ETDC), which estimates the uncertainties more accurately than TDC at the same sampling frequency, yet has nearly the same computational efficiency as TDC. The stability of ETDC has been analyzed. The experimental results verified that ETDC improves TDC in terms of the control performance.

목차

Abstract
Ⅰ. INTRODUCTION
Ⅱ. ENHANCED TIME DELAY CONTROL
Ⅲ. STABILITY ANALYSIS UNDER FORCE CONTROL
Ⅳ. EXPERIMENTAL RESULTS
Ⅴ. CONCLUSIONS
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