Impact sound control by learning control

Hiroshi Wada, Toshio Fukuda, Kazuhiro Kosuge, Keigo Watanabe, Fumihito Arai, Hideo Matsuura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Impact sound is emitted when a collision occurs between objects. In this paper, we propose a robotic control method to reproduce the impact sound emitted by the collision between the endpoint of the robotic manipulator and the object. The feedback control of impact sound is very difficult, because the impact phenomenon occurs in a very short period of time. Instead of a feedback control method, a learning control algorithm is proposed to control the impact phenomena. The learning control algorithm modifies the reference signal to the servo controller of the robot manipulator so that the desired impact sound is reproduced. The algorithm is based on the optimization of the least-squares criterion of learning error and does not require the dynamic model of the impact phenomena. The algorithm is applied to the planar manipulator with one degree of freedom driven by a pneumatic actuator. Experimental results illustrate the effectiveness of the proposed algorithm.

Original languageEnglish
Title of host publicationIntelligence for Mechanical Systems
PublisherIEEE
Pages655-660
Number of pages6
ISBN (Print)078030067X
Publication statusPublished - Dec 1 1991
Externally publishedYes
EventIEEE/RSJ International Workshop on Intelligent Robot and Systems '91 -
Duration: Nov 3 1991Nov 5 1991

Publication series

NameIntelligence for Mechanical Systems
Volume2

Other

OtherIEEE/RSJ International Workshop on Intelligent Robot and Systems '91
Period11/3/9111/5/91

ASJC Scopus subject areas

  • Engineering(all)

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  • Cite this

    Wada, H., Fukuda, T., Kosuge, K., Watanabe, K., Arai, F., & Matsuura, H. (1991). Impact sound control by learning control. In Intelligence for Mechanical Systems (pp. 655-660). (Intelligence for Mechanical Systems; Vol. 2). IEEE.