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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Dac-Chi Dang Suk-Ho Jung Yong-Woon Choi Young-Bok Kim |
| Copyright Year | 2015 |
| Description | Author affiliation: Dept. of Inf. Syst. Sci., Soka Univ., Tokyo, Japan (Yong-Woon Choi) || Dept. of Control & Mech. Eng., Pukyong Nat. Univ., Busan, South Korea (Dac-Chi Dang) || Dept. of Mech. Syst. Eng., Pukyong Nat. Univ., Busan, South Korea (Suk-Ho Jung; Young-Bok Kim) |
| Abstract | This paper addresses a method for easy recognition and regeneration of the robot motion initially made by the operator. This method is used for robot motion control to cope with painting, welding job and etc. The main processes are accurate modeling, control design and experimental evaluation. In this study, the models and controllers for all joints of 3DOF robot system are obtained individually. The robust control method based on $ℋ_{∞}$ control framework is applied to design the control system for motion control. The experiment by comparison of the robust control method with the existing PID control method is performed on 3DOF robot system. And the results indicate that the proposed designing method is more efficient than the conventional PID method. |
| Starting Page | 758 |
| Ending Page | 762 |
| File Size | 1386146 |
| Page Count | 5 |
| File Format | |
| ISSN | 20937121 |
| e-ISBN | 9788993215083 |
| DOI | 10.1109/ICCAS.2015.7364722 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2015-10-13 |
| Publisher Place | South Korea |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Control, Robotics and Systems - ICROS |
| Subject Keyword | robot Service robots motion control regeneration recognition Attenuation robust control trajectory tracking |
| Content Type | Text |
| Resource Type | Article |
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