Robust force control of a 6 link electro-hydraulic manipulator

Proceedings - KORUS 2000: 4th Korea-Russia International Symposium on Science and Technology

Volumn 3, Issue , 2000, Pages 78-83

  Ahn, Kyoung Kwan ^a   Yang, Soon Yong ^a  

^a University of Ulsan   (South Korea)

Author keywords

force control; force disturbance observer; hydraulic; manipulator; robust control

Indexed keywords

CONTROL THEORY; ELECTRIC INSULATION; FORCE CONTROL; HYDRAULICS; MANIPULATORS; ROBUST CONTROL; RUBBER;

AUTONOMOUS ASSEMBLY; DISTURBANCE OBSERVER; ELECTRO-HYDRAULICS; H-INFINITY CONTROL THEORY; HYDRAULIC MANIPULATOR; LIVE-LINE MAINTENANCES; PARAMETER FLUCTUATIONS; ROBUST FORCE CONTROL;

HYDRAULIC ACTUATORS;

EID: 84894216442     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/KORUS.2000.866063     Document Type: Conference Paper

References (4)

1. Hogan N., Impedance control: An approach to manipulation, parts I, II, and III, ASME Journal of Dynamic Systems, Measurement, and Control, 1985, v. 107. p. 1-24.
2. Gershon D., Baruch V., Robot impedance control without a dynamic model: a model reference approach, IASTED International Conference on Control and Robotics, 1992, p. 110-113
3. Gershon D., Baruch V., Impedance control with autonomous mode switching, Fifth International Conference on Advanced Robotics, 1991, p. 482-486
4. Ahn K. K., On robust impedance force control to a 6-link electro-hydraulic manipulator with dynamic environment, 14th World Congress of IFAC, Beijing, 1999, Vol. G, pp73-78