Tepki kuvveti gözetleyici tabanlı tork kontrolü

Name: Tepki kuvveti gözetleyici tabanlı tork kontrolü
Author: Özçınar, Erim Can, Uğurlu, Regaip Barkan

İsim	Tepki kuvveti gözetleyici tabanlı tork kontrolü
Yazar	Özçınar, Erim Can, Uğurlu, Regaip Barkan
Basım Tarihi:	2021-12
Basım Yeri	- Gazi Üniversitesi
Konu	Tork kontrolü, Tepki kuvveti gözetleyici, Bozunum gözetleyici, Sürtünme kompanzasyonu, Torque control, Reaction force observer, Disturbance observer, Friction compensation
Tür	Süreli Yayın
Dil	İngilizce
Dijital	Evet
Yazma	Hayır
Kütüphane:	Özyeğin Üniversitesi
Demirbaş Numarası	1302-0900
Kayıt Numarası	18c4b911-d831-4736-af07-1799304aa4ed
Lokasyon	Mechanical Engineering
Tarih	2021-12
Örnek Metin	In this article, a reaction force observer-based torque controller was designed and experimentally implemented to a non-backdrivable actuator unit. Torque control is of importance when considering physical human-robot interaction and researchers usually use torque sensors or custom-built torsional springs. These elements lead to relatively more complicated systems and increase the total weight. In contrast, reaction force observers can estimate external forces acting on the system and thus enable torque control with no need of torque sensing. The estimation process performs better for backdrivable systems, therefore, its implementation to non-backdrivable systems, e.g., systems with a gear ratio of 1:100, is limited. To remedy this issue, a reaction force observer-based torque controller was designed and implemented. As a result, experimental data showed that reaction force observer leads to favorable torque control performance when supported with friction compensation.
Cilt	24

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Tepki kuvveti gözetleyici tabanlı tork kontrolü

Yazar Özçınar, Erim Can, Uğurlu, Regaip Barkan

Basım Tarihi 2021-12

Basım Yeri - Gazi Üniversitesi

Konu Tork kontrolü, Tepki kuvveti gözetleyici, Bozunum gözetleyici, Sürtünme kompanzasyonu, Torque control, Reaction force observer, Disturbance observer, Friction compensation

Tür Süreli Yayın

Dil İngilizce

Dijital Evet

Yazma Hayır

Kütüphane Özyeğin Üniversitesi

Demirbaş Numarası 1302-0900

Kayıt Numarası 18c4b911-d831-4736-af07-1799304aa4ed

Lokasyon Mechanical Engineering

Tarih 2021-12

Örnek Metin In this article, a reaction force observer-based torque controller was designed and experimentally implemented to a non-backdrivable actuator unit. Torque control is of importance when considering physical human-robot interaction and researchers usually use torque sensors or custom-built torsional springs. These elements lead to relatively more complicated systems and increase the total weight. In contrast, reaction force observers can estimate external forces acting on the system and thus enable torque control with no need of torque sensing. The estimation process performs better for backdrivable systems, therefore, its implementation to non-backdrivable systems, e.g., systems with a gear ratio of 1:100, is limited. To remedy this issue, a reaction force observer-based torque controller was designed and implemented. As a result, experimental data showed that reaction force observer leads to favorable torque control performance when supported with friction compensation.

Cilt 24