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cs.RO2022
A Unified Robust Motion Controller Synthesis for Compliant Robots Driven by Series Elastic Actuators
Emre Sariyildiz
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…
eess.SY2022
Design Constraints of Disturbance Observer-based Motion Control Systems are Stricter in the Discrete-Time Domain
Emre Sariyildiz
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 micr…