Stable control of robot manipulator with collision phenomena. (3rd report, Force control experiment of the robot manipulator with collision phenomena by a learning control using the weighted least-squares method)

Toshio Fukuda, Hiroshi Wada, Hideo Matsuura, Fumihito Arai, Keigo Watanabe, Yasumasa Shoji

Research output: Contribution to journalArticle


Collision phenomena are very fast and nonlinear making it difficult to control the manipulator with collision phenomena. Therefore, in the past, manipulators moved slowly in order to avoid a collision. However, the necessity for high-speed tasks has been growing; thus, it is indispensable to control the manipulator with collision phenomena. In such fast phenomena, it is effective to use learning control in the forward manner. In this paper, we propose a learning control method to optimize the weighted least-squares criterion of learning errors. This method is applied to obtain a unique control gain by the Riccati equation which has the state dimension equal to the sampling number. It is shown that the convergence of learning error can be readily assured because the present learning rule consists of a steady-state Kalman filter. Using this learning control method, we report the results of the experiment on force control with a collision phenomena.

Original languageEnglish
Pages (from-to)2953-2958
Number of pages6
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Issue number541
Publication statusPublished - Sep 1991
Externally publishedYes


ASJC Scopus subject areas

  • Mechanical Engineering

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