抄録
This paper deals with the complex robot systems motion control. A nonlinear observer, called Extended State Observer is introduced for compensating for the nonlinear dynamics of the manipulator and the external disturbances, in a model-independent way. The experimental results on motion control of a robot finger show the effectiveness of ESO. The advantages of the nonlinear structure of the ESO are analyzed and the capability of ESO is discussed.
| 元の言語 | 英語 |
|---|---|
| ページ | 2807-2811 |
| ページ数 | 5 |
| 出版物ステータス | 出版済み - 12 1 2002 |
| イベント | Proceedings of the 4th World Congress on Intelligent Control and Automation - Shanghai, 中国 継続期間: 6 10 2002 → 6 14 2002 |
その他
| その他 | Proceedings of the 4th World Congress on Intelligent Control and Automation |
|---|---|
| 国 | 中国 |
| 市 | Shanghai |
| 期間 | 6/10/02 → 6/14/02 |
Fingerprint
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Software
- Computer Science Applications
これを引用
Extended state observer based technique for control of robot systems. / Yi, Huang; Luo, Z. W.; Svinin, Mikhail Mikhailovich; Odashima, T.; Hosoe, S.
2002. 2807-2811 論文発表場所 Proceedings of the 4th World Congress on Intelligent Control and Automation, Shanghai, 中国.研究成果: 会議への寄与タイプ › 論文
}
TY - CONF
T1 - Extended state observer based technique for control of robot systems
AU - Yi, Huang
AU - Luo, Z. W.
AU - Svinin, Mikhail Mikhailovich
AU - Odashima, T.
AU - Hosoe, S.
PY - 2002/12/1
Y1 - 2002/12/1
N2 - This paper deals with the complex robot systems motion control. A nonlinear observer, called Extended State Observer is introduced for compensating for the nonlinear dynamics of the manipulator and the external disturbances, in a model-independent way. The experimental results on motion control of a robot finger show the effectiveness of ESO. The advantages of the nonlinear structure of the ESO are analyzed and the capability of ESO is discussed.
AB - This paper deals with the complex robot systems motion control. A nonlinear observer, called Extended State Observer is introduced for compensating for the nonlinear dynamics of the manipulator and the external disturbances, in a model-independent way. The experimental results on motion control of a robot finger show the effectiveness of ESO. The advantages of the nonlinear structure of the ESO are analyzed and the capability of ESO is discussed.
UR - http://www.scopus.com/inward/record.url?scp=0036945880&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0036945880&partnerID=8YFLogxK
M3 - Paper
AN - SCOPUS:0036945880
SP - 2807
EP - 2811
ER -