DC Field | Value | Language |
---|---|---|
dc.contributor.author | Doh, NL | - |
dc.contributor.author | Chung, WK | - |
dc.contributor.author | Youm, Y | - |
dc.contributor.author | Oh, Y | - |
dc.date.accessioned | 2016-04-01T01:37:45Z | - |
dc.date.available | 2016-04-01T01:37:45Z | - |
dc.date.created | 2011-06-01 | - |
dc.date.issued | 2007-05 | - |
dc.identifier.issn | 0022-0434 | - |
dc.identifier.other | 2007-OAK-0000006917 | - |
dc.identifier.uri | https://oasis.postech.ac.kr/handle/2014.oak/23356 | - |
dc.description.abstract | A hard contact is an impact that occurs when the robot contacts a stiff environment with a high velocity. In the pretransition phase of the hard contact, it is important to maintain stability while reducing succeeding force peaks and the duration time. For these purposes, we propose two control methods. One is a suppression controller that suppresses position rebounds in-between the impact time. The other is a flexible-damped joint with a joint damping controller. The flexible-damped joint is a new joint type designed to increase the hardware damping. It is controlled by a novel controller, called the joint damping controller, to enhance damping. The major advantage of the proposed methods is a guaranteed stability. The performance of the proposed methods is validated via several comparative experiments. | - |
dc.description.statementofresponsibility | X | - |
dc.language | English | - |
dc.publisher | ASME-AMER SOC MECHANICAL ENG | - |
dc.relation.isPartOf | JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME | - |
dc.subject | IMPACT CONTROL | - |
dc.subject | ROBOT SYSTEM | - |
dc.title | Two transition phase control methods for hard contact | - |
dc.type | Article | - |
dc.contributor.college | 기계공학과 | - |
dc.identifier.doi | 10.1115/1.2719766 | - |
dc.author.google | Doh, NL | - |
dc.author.google | Chung, WK | - |
dc.author.google | Youm, Y | - |
dc.author.google | Oh, Y | - |
dc.relation.volume | 129 | - |
dc.relation.issue | 3 | - |
dc.relation.startpage | 262 | - |
dc.relation.lastpage | 274 | - |
dc.contributor.id | 10077435 | - |
dc.relation.journal | JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME | - |
dc.relation.index | SCI급, SCOPUS 등재논문 | - |
dc.relation.sci | SCI | - |
dc.collections.name | Journal Papers | - |
dc.type.rims | ART | - |
dc.identifier.bibliographicCitation | JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, v.129, no.3, pp.262 - 274 | - |
dc.identifier.wosid | 000247057300003 | - |
dc.date.tcdate | 2019-01-01 | - |
dc.citation.endPage | 274 | - |
dc.citation.number | 3 | - |
dc.citation.startPage | 262 | - |
dc.citation.title | JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME | - |
dc.citation.volume | 129 | - |
dc.contributor.affiliatedAuthor | Chung, WK | - |
dc.identifier.scopusid | 2-s2.0-34250853967 | - |
dc.description.journalClass | 1 | - |
dc.description.journalClass | 1 | - |
dc.description.wostc | 1 | - |
dc.description.scptc | 1 | * |
dc.date.scptcdate | 2018-05-121 | * |
dc.type.docType | Article | - |
dc.relation.journalWebOfScienceCategory | Automation & Control Systems | - |
dc.relation.journalWebOfScienceCategory | Instruments & Instrumentation | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Automation & Control Systems | - |
dc.relation.journalResearchArea | Instruments & Instrumentation | - |
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