Dynamic model based microrobot control

Su Hui Kwak; Yongsu Park; Sehoon Oh

doi:10.1109/URAI.2017.7992687

Dynamic model based microrobot control

Su Hui Kwak, Yongsu Park, Sehoon Oh

Department of Robotics and Mechatronics Engineering

Daegu Gyeongbuk Institute of Science and Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

In this paper, a novel control algorithm for a microrobot is proposed, which is Two-degree-of-freedom control based on dynamic model. Two-degree-of-freedom control which consists of Disturbance observer (DOB), feedback controller and feedforward controller, has been utilized widely in industry. For the application of this controller for the microrobot, dynamic characteristics of a microrobot is analyzed and modeled at first, then Two-degree-of-freedom controller is designed based on the derived dynamic model of the microrobot. Experiments verify better performance by the proposed controller over the conventional controller.

Original language	English
Title of host publication	2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	624-625
Number of pages	2
ISBN (Electronic)	9781509030552
DOIs	https://doi.org/10.1109/URAI.2017.7992687
State	Published - 25 Jul 2017
Event	14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017 - Jeju, Korea, Republic of Duration: 28 Jun 2017 → 1 Jul 2017

Publication series

Name	2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017

Conference

Conference	14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017
Country/Territory	Korea, Republic of
City	Jeju
Period	28/06/17 → 1/07/17

Bibliographical note

Publisher Copyright:
© 2017 IEEE.

Keywords

disturbance observer
feedforward control
micororobot
model-based control

Access to Document

10.1109/URAI.2017.7992687

Cite this

Kwak, S. H., Park, Y., & Oh, S. (2017). Dynamic model based microrobot control. In 2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017 (pp. 624-625). Article 7992687 (2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/URAI.2017.7992687

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title = "Dynamic model based microrobot control",

abstract = "In this paper, a novel control algorithm for a microrobot is proposed, which is Two-degree-of-freedom control based on dynamic model. Two-degree-of-freedom control which consists of Disturbance observer (DOB), feedback controller and feedforward controller, has been utilized widely in industry. For the application of this controller for the microrobot, dynamic characteristics of a microrobot is analyzed and modeled at first, then Two-degree-of-freedom controller is designed based on the derived dynamic model of the microrobot. Experiments verify better performance by the proposed controller over the conventional controller.",

keywords = "disturbance observer, feedforward control, micororobot, model-based control",

author = "Kwak, {Su Hui} and Yongsu Park and Sehoon Oh",

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year = "2017",

month = jul,

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doi = "10.1109/URAI.2017.7992687",

language = "English",

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Kwak, SH, Park, Y & Oh, S 2017, Dynamic model based microrobot control. in 2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017., 7992687, 2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017, Institute of Electrical and Electronics Engineers Inc., pp. 624-625, 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017, Jeju, Korea, Republic of, 28/06/17. https://doi.org/10.1109/URAI.2017.7992687

Dynamic model based microrobot control. / Kwak, Su Hui; Park, Yongsu; Oh, Sehoon.
2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 624-625 7992687 (2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - Dynamic model based microrobot control

AU - Kwak, Su Hui

AU - Park, Yongsu

AU - Oh, Sehoon

PY - 2017/7/25

Y1 - 2017/7/25

N2 - In this paper, a novel control algorithm for a microrobot is proposed, which is Two-degree-of-freedom control based on dynamic model. Two-degree-of-freedom control which consists of Disturbance observer (DOB), feedback controller and feedforward controller, has been utilized widely in industry. For the application of this controller for the microrobot, dynamic characteristics of a microrobot is analyzed and modeled at first, then Two-degree-of-freedom controller is designed based on the derived dynamic model of the microrobot. Experiments verify better performance by the proposed controller over the conventional controller.

AB - In this paper, a novel control algorithm for a microrobot is proposed, which is Two-degree-of-freedom control based on dynamic model. Two-degree-of-freedom control which consists of Disturbance observer (DOB), feedback controller and feedforward controller, has been utilized widely in industry. For the application of this controller for the microrobot, dynamic characteristics of a microrobot is analyzed and modeled at first, then Two-degree-of-freedom controller is designed based on the derived dynamic model of the microrobot. Experiments verify better performance by the proposed controller over the conventional controller.

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KW - feedforward control

KW - micororobot

KW - model-based control

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M3 - Conference contribution

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BT - 2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017

PB - Institute of Electrical and Electronics Engineers Inc.

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Dynamic model based microrobot control

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Keywords

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