Please use this identifier to cite or link to this item: https://doi.org/10.1109/COASE.2010.5584228
Title: Learning compliance control of robot manipulators in contact with the unknown environment
Authors: Li, Y.
Yang, C.
Ge, S.S. 
Issue Date: 2010
Source: Li, Y.,Yang, C.,Ge, S.S. (2010). Learning compliance control of robot manipulators in contact with the unknown environment. 2010 IEEE International Conference on Automation Science and Engineering, CASE 2010 : 644-649. ScholarBank@NUS Repository. https://doi.org/10.1109/COASE.2010.5584228
Abstract: In this paper, a control mechanism is presented to improve the compliance performance of the robot manipulator when it is in contact with the unknown environment. This mechanism guarantees that the dynamics of the whole system follows a target impedance model so that the desired compliance performance is obtained. In particular, under the assumption that the dynamics is periodic, a learning law is developed to estimate the unknown dynamics parameters. Besides, the proposed systematic learning control does not require the accurate force measurement. Its performance and robustness are discussed in details by the rigorous analysis. At last, the validity of the proposed method is verified by simulation. © 2010 IEEE.
Source Title: 2010 IEEE International Conference on Automation Science and Engineering, CASE 2010
URI: http://scholarbank.nus.edu.sg/handle/10635/70781
ISBN: 9781424454471
DOI: 10.1109/COASE.2010.5584228
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