An iterative learning-control scheme for impedance control of robotic manipulators
- Nanyang Technological Univ., Singapore (Singapore). School of Electrical and Electronic Engineering
- Ritsumeikan Univ., Kusatsu, Shiga (Japan)
In this paper, an iterative learning-control law is proposed for impedance control of robotic manipulators. In most of the learning-controller designs in the literature, a reference trajectory is given and a learning algorithm is designed to force the trajectory tracking error to converge to zero as the action is repeated. In contrast, the authors` approach allows the performance of the learning system to be specified by a target impedance. A design method for analyzing the learning-impedance system is developed, and sufficient conditions for guaranteeing the convergence of the error to zero are derived. The robustness of the learning impedance-control system to the fluctuation of the dynamics, output measurement noise, and error in the initial conditions is also analyzed in details. Experimental results on a system using an industrial robot (SEIKO TT3300) are presented to illustrate the theoretical results.
- Sponsoring Organization:
- USDOE
- OSTI ID:
- 665335
- Journal Information:
- International Journal of Robotics Research, Journal Name: International Journal of Robotics Research Journal Issue: 10 Vol. 17; ISSN IJRREL; ISSN 0278-3649
- Country of Publication:
- United States
- Language:
- English
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