1 Ocak 2018 Konferans bildirisi Açık Erişim

Kansizoglu, Ahmet Talha; Sariyildiz, Emre; Ugurlu, Barkan

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        "affiliation": "Ozyegin Univ, Dept Mech Engn, TR-34794 Istanbul, Turkey", 
        "name": "Kansizoglu, Ahmet Talha"
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        "affiliation": "Univ Wollongong, Sch Mech Mat Mech Biom Eng, Wollongong, NSW 2522, Australia", 
        "name": "Sariyildiz, Emre"
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        "affiliation": "Ozyegin Univ, Dept Mech Engn, TR-34794 Istanbul, Turkey", 
        "name": "Ugurlu, Barkan"
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    "description": "This paper presents a comparison study for the robust force control of series elastic actuators (SEAs). In most robotics systems, SEAs are used as an essential actuation method due to the benefits such as lower reflected inertia and safety. However, the robustness to the modeling uncertainties and external disturbances is still a study material for researchers. It is known that when model-based control methods are used with disturbance observers, high precision tracking results can be obtained. Therefore, in this study, model predictive control and model-based feedforward control methods are investigated in different scenarios and simulation results are provided for comparison.", 
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      "title": "2018 IEEE 15TH INTERNATIONAL WORKSHOP ON ADVANCED MOTION CONTROL (AMC)"
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    "title": "A Comparison Study on Observer-based Force Control of Series Elastic Actuators"
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