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[Research article] Professor Sehoon Oh’s team published a paper in IEEE Transactions on Industrial Electronics (IEEE TIE) journal

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댓글 0건 조회 79회 작성일 2023-11-01 12:27

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- Paper title: Outer-Loop Admittance and Motion Control Dual Improvement via a Multi-Function Observer (early access) doi: 10.1109/TIE.2023.3317843.

- This article proposes a linear admittance control framework from which a multifunction observer (MOB)-based control scheme that succeeds in directly improving the motion control accuracy by suppressing disturbances, while achieving better loop shaping in the outer-loop admittance control is designed. By using the task space force and position measurement of the robot, combined with linearized position-controlled robot and payload models to design the MOB, the outer-loop controller can render improved interactive dynamics.