Tepki kuvveti gözetleyici tabanlı tork kontrolü
dc.contributor.author | Özçınar, Erim Can | |
dc.contributor.author | Uğurlu, Regaip Barkan | |
dc.date.accessioned | 2022-08-31T13:11:54Z | |
dc.date.available | 2022-08-31T13:11:54Z | |
dc.date.issued | 2021-12 | |
dc.identifier.issn | 1302-0900 | en_US |
dc.identifier.uri | http://hdl.handle.net/10679/7818 | |
dc.identifier.uri | https://dergipark.org.tr/tr/pub/politeknik/issue/67878/848036 | |
dc.description.abstract | 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. | en_US |
dc.language.iso | eng | en_US |
dc.publisher | Gazi Üniversitesi | en_US |
dc.relation.ispartof | Politeknik Dergisi | |
dc.rights | openAccess | |
dc.title | Tepki kuvveti gözetleyici tabanlı tork kontrolü | en_US |
dc.title.alternative | Reaction force observer based torque control | |
dc.type | Article | en_US |
dc.description.version | Publisher version | en_US |
dc.peerreviewed | yes | en_US |
dc.publicationstatus | Published | en_US |
dc.contributor.department | Özyeğin University | |
dc.contributor.authorID | (ORCID 0000-0002-9124-7441 & YÖK ID 241209) Uğurlu, Barkan | |
dc.contributor.ozuauthor | Uğurlu, Regaip Barkan | |
dc.identifier.volume | 24 | en_US |
dc.identifier.issue | 4 | en_US |
dc.identifier.startpage | 1629 | en_US |
dc.identifier.endpage | 1635 | en_US |
dc.identifier.wos | WOS:000762330700027 | |
dc.subject.keywords | Tork kontrolü | en_US |
dc.subject.keywords | Tepki kuvveti gözetleyici | en_US |
dc.subject.keywords | Bozunum gözetleyici | en_US |
dc.subject.keywords | Sürtünme kompanzasyonu | en_US |
dc.subject.keywords | Torque control | en_US |
dc.subject.keywords | Reaction force observer | en_US |
dc.subject.keywords | Disturbance observer | en_US |
dc.subject.keywords | Friction compensation | en_US |
dc.contributor.ozugradstudent | Özçınar, Erim Can | |
dc.relation.publicationcategory | Article - International Refereed Journal - Institutional Academic Staff and Graduate Student |
Files in this item
This item appears in the following Collection(s)
Share this page