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|Title:||Learning compliance control of robot manipulators in contact with the unknown environment|
|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|
|Appears in Collections:||Staff Publications|
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