By Topic

Enhanced Operational Space Formulation for Multiple Tasks by Using Time-Delay Estimation

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Pyung Hun Chang ; Dept. of Robot. Eng., Daegu Gyeongbuk Inst. of Sci. & Technol., Daegu, South Korea ; Jae Won Jeong

The operational space formulation (OSF) has been enhanced from a practical viewpoint through the application of the time-delay estimation (TDE). In principle, the OSF enables an excellent decentralized control owing to its ability to achieve dynamic consistency. In reality, however, it can suffer from modeling errors and relatively large computational demands. As a remedy for these problems, the OSF has been combined with the TDE, which is known for its accurate estimation of robot dynamics with high computational efficiency. By virtue of the TDE, the OSF with the TDE (OSFTDE) shows enhanced accuracy in terms of dynamic consistency and control performance along with enhanced computational efficiency. Through simple but obvious simulations and experiments, the OSFTDE shows much better accuracy than the OSF with modeling error of 5% or higher, although accuracy is slightly worse than the OSF with a perfect model, thereby demonstrating its practical advantages.

Published in:

Robotics, IEEE Transactions on  (Volume:28 ,  Issue: 4 )