Intelligent active force control of a rigid robot arm using embedded iterative learning algorithm
The paper presents a novel approach to estimating the inertia matrix of a robot arm adaptively and on-line using an iterative learning algorithm. It is employed in conjunction with an active force control strategy which has been shown to be very effective in accommodating the disturbances. A compreh...
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| Format: | Article |
| Language: | English |
| Published: |
Faculty of Mechanical Engineering
2000
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| Online Access: | http://eprints.utm.my/id/eprint/8313/1/MusaMailah2000_IntelligentActiveForceControlof.pdf http://eprints.utm.my/id/eprint/8313/ http://portal.psz.utm.my/psz/index.php?option=com_content&task=view&id=128&Itemid=305&PHPSESSID=81b664e998055f65b4ccff8f61bf7cb2 |
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