지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2012.10
- 수록면
- 1,021 - 1,024 (4page)
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초록· 키워드
오류제보하기
Actuators for physical human-robot interaction (pHRI) such as rehabilitation or assistive systems should generate the desired torque precisely. However, the resistive and inertia loads inherent in the actuators (e.g., friction, damping, and inertia) set challenges in the control of actuators in a force/torque mode. The resistive factors include nonlinear effects and should be considered in the controller design to generate the desired force accurately. Moreover, the uncertainties in the plant dynamics make the precise torque control difficult. In this paper, nonlinear control algorithms are exploited for a rotary series elastic actuator to generate the desired torque precisely in the presence of nonlinear resistive factors and modeling uncertainty. The performance of the proposed controller is verified by experiments with actual walking motions
목차
Abstract
1. INTRODUCTION
2. PRELIMINARY WORKS
3. Nonlinear Controller Design for a Rotary Series Elastic Actuator
4. PERFORMANCE ANALYSIS BY EXPERIMENTS
5. CONCLUSION
REFERENCES
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