Abstract
Impact collision is a fast and non-linear phenomenon, so it is difficult to control a robotic manipulator undergoing collision phenomena. Therefore, in the past, manipulators were moved slowly in order to avoid collision. But with the recent increase in the amount of high-speed tasks, control of the manipulator undergoing collision has become indispensable. In such a situation, it is effective to use learning control method to optimize the weighted least-squares criterion of learning errors. This method can be applied to obtain a unique control gain, and it is shown here that the convergence of learning error can be readily assured. Using this learning control method, we carried out experiments on force control with collision phenomena, and provided the convergence of the output error. The robotic manipulator was made of an air-driven rubber actuator with no reduction gears to avoid damage due to impact.
| Original language | English |
|---|---|
| Pages (from-to) | 219-225 |
| Number of pages | 7 |
| Journal | JSME International Journal, Series C: Dynamics, Control, Robotics, Design and Menufacturing |
| Volume | 36 |
| Issue number | 2 |
| Publication status | Published - Jun 1993 |
| Externally published | Yes |
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ASJC Scopus subject areas
- Engineering(all)
Cite this
Force control of the robot manipulator with collision phenomena by learning control. / Wada, Hiroshi; Fukuda, Toshio; Watanabe, Keigo; Matsuura, Hideo; Watanabe, Keigo.
In: JSME International Journal, Series C: Dynamics, Control, Robotics, Design and Menufacturing, Vol. 36, No. 2, 06.1993, p. 219-225.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Force control of the robot manipulator with collision phenomena by learning control
AU - Wada, Hiroshi
AU - Fukuda, Toshio
AU - Watanabe, Keigo
AU - Matsuura, Hideo
AU - Watanabe, Keigo
PY - 1993/6
Y1 - 1993/6
N2 - Impact collision is a fast and non-linear phenomenon, so it is difficult to control a robotic manipulator undergoing collision phenomena. Therefore, in the past, manipulators were moved slowly in order to avoid collision. But with the recent increase in the amount of high-speed tasks, control of the manipulator undergoing collision has become indispensable. In such a situation, it is effective to use learning control method to optimize the weighted least-squares criterion of learning errors. This method can be applied to obtain a unique control gain, and it is shown here that the convergence of learning error can be readily assured. Using this learning control method, we carried out experiments on force control with collision phenomena, and provided the convergence of the output error. The robotic manipulator was made of an air-driven rubber actuator with no reduction gears to avoid damage due to impact.
AB - Impact collision is a fast and non-linear phenomenon, so it is difficult to control a robotic manipulator undergoing collision phenomena. Therefore, in the past, manipulators were moved slowly in order to avoid collision. But with the recent increase in the amount of high-speed tasks, control of the manipulator undergoing collision has become indispensable. In such a situation, it is effective to use learning control method to optimize the weighted least-squares criterion of learning errors. This method can be applied to obtain a unique control gain, and it is shown here that the convergence of learning error can be readily assured. Using this learning control method, we carried out experiments on force control with collision phenomena, and provided the convergence of the output error. The robotic manipulator was made of an air-driven rubber actuator with no reduction gears to avoid damage due to impact.
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M3 - Article
AN - SCOPUS:0027611131
VL - 36
SP - 219
EP - 225
JO - JSME International Journal, Series 3: Vibration, Control Engineering, Engineering for Industry
JF - JSME International Journal, Series 3: Vibration, Control Engineering, Engineering for Industry
SN - 0914-8825
IS - 2
ER -