A disturbance observer design for backlash compensation

International Journal of Control, Automation and Systems

Volumn 9, Issue 4, 2011, Pages 742-749

  Kang, Min Jung ^a   Park, Jong Hun ^b   Kim, Jin Hwan ^c   Huh, Uk Youl ^c  

^a Department R and D ^*  (South Korea)

^b Inha University   (South Korea)

^c Inha Technical College   (South Korea)

Author keywords

Backlash; bevel gear; disturbance observer; humanoid robot; nonlinear friction

Indexed keywords

BACKLASH; BACKLASH COMPENSATION; CONTROL SCHEMES; DISTURBANCE OBSERVER; ELECTROMECHANICAL SYSTEMS; GEAR TRAIN; HUMANOID ROBOT; INPUT TRAJECTORY; INVERSE MODELS; KNEE JOINT; NONLINEAR FRICTION; SYSTEM OUTPUT; TRACKING ERRORS;

BEVEL GEARS; ELECTROMECHANICAL DEVICES; ERROR ANALYSIS; JOINTS (ANATOMY);

ANTHROPOMORPHIC ROBOTS;

EID: 80052689768     PISSN: 15986446     EISSN: 20054092     Source Type: Journal    
DOI: 10.1007/s12555-011-0416-8     Document Type: Article

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