Zobrazeno 1 - 10
of 150
pro vyhledávání: '"Sariyildiz, Emre"'
This paper proposes a new variable stiffness soft gripper that enables high-performance grasping tasks in industrial applications. The design of the proposed monolithic soft gripper includes a middle bellow and two side bellows (i.e., fingers). The p
Externí odkaz:
http://arxiv.org/abs/2302.02534
Autor:
Sariyildiz, Emre
This paper proposes a new stability analysis for the Reaction Torque Observer (RTOb) based robust force control systems in the discrete-time domain. The robust force controller is implemented by employing a Disturbance Observer (DOb) to suppress dist
Externí odkaz:
http://arxiv.org/abs/2302.02530
Publikováno v:
2023
This paper expounds the design and control of a new Variable Stiffness Series Elastic Actuator (VSSEA). It is established by employing a modular mechanical design approach that allows us to effectively optimise the stiffness modulation characteristic
Externí odkaz:
http://arxiv.org/abs/2301.00939
A Unified Robust Motion Controller Synthesis for Compliant Robots Driven by Series Elastic Actuators
Autor:
Sariyildiz, Emre
This paper proposes a unified robust motion controller for the position and force control problems of compliant robot manipulators driven by Series Elastic Actuators (SEAs). It is shown that the dynamic model of the compliant robot includes not only
Externí odkaz:
http://arxiv.org/abs/2202.00168
Autor:
Sariyildiz, Emre
This paper shows that the design constraints of the Disturbance Observer (DOb) based robust motion control systems become stricter when they are implemented using computers or microcontrollers. The stricter design constraints put new upper bounds on
Externí odkaz:
http://arxiv.org/abs/2202.00165
Autor:
Sariyildiz, Emre, Ohnishi, Kouhei
Publikováno v:
7th International Power Electronics Conference, IPEC-Hiroshima - ECCE Asia 2014; Hiroshima; Japan; 18 May 2014 through 21 May 2014; Category numberCFP14CPB-ART; Code 107091
This paper proposes new practical design tools for the robust motion control systems based on disturbance observer (DOB). Although DOB has long been used in several motion control applications, it has insufficient analysis and design tools. The paper
Externí odkaz:
http://arxiv.org/abs/2105.00615
Autor:
Sariyildiz, Emre
The trade-off between the noise-sensitivity and the performance of disturbance estimation is well-known in the Disturbance Observer- (DOb-) based motion control systems. As the bandwidth of the DOb increases, not only the performance but also the fre
Externí odkaz:
http://arxiv.org/abs/2101.08259
Autor:
Sariyildiz, Emre
This paper analyses and synthesises the Disturbance Observer (DOb) based motion control systems in the discrete-time domain. By employing Bode Integral Theorem, it is shown that continuous-time analysis methods fall-short in explaining the dynamic be
Externí odkaz:
http://arxiv.org/abs/2101.07920
Publikováno v:
IEEE/ASME Transactions on Mechatronics, 2020
This paper analyses the robust stability and performance of the Disturbance Observer- (DOb-) based digital motion control systems in discrete-time domain. It is shown that the phase margin and the robustness of the digital motion controller can be di
Externí odkaz:
http://arxiv.org/abs/2010.08075
Autor:
Sariyildiz, Emre, Ohnishi, Kouhei
The goal of this paper is to clarify the robustness and performance constraints in the design of control systems based on disturbance observer (DOB). Although the bandwidth constraints of a DOB have long been very well-known by experiences and observ
Externí odkaz:
http://arxiv.org/abs/1912.06331