TY - JOUR
T1 - Force Control of the Robot Manipulator with Collision Phenomena by Learning Control
AU - Wada, Hiroshi
AU - Fukuda, Toshio
AU - Matsuura, Hideo
AU - Arai, Fumihito
AU - Watanabe, Keigo
N1 - Copyright:
Copyright 2017 Elsevier B.V., All rights reserved.
PY - 1993/2/1
Y1 - 1993/2/1
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 in the forward manner. In this paper, we propose a new 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 proved 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 in the forward manner. In this paper, we propose a new 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 proved 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.
KW - Collision
KW - Force Control
KW - Learning Control
KW - Mechatronics
KW - Robotics
KW - Weighted Least-Squares Method
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U2 - 10.1299/jsmec1993.36.219
DO - 10.1299/jsmec1993.36.219
M3 - Article
AN - SCOPUS:0027611131
VL - 36
SP - 219
EP - 225
JO - jsme international journal. ser. c, dynamics, control, robotics, design and manufacturing
JF - jsme international journal. ser. c, dynamics, control, robotics, design and manufacturing
SN - 1340-8062
IS - 2
ER -