Intelligent active force control of a rigid robot arm using embedded iterative learning algorithm

• 主要作者: Mailah, Musa
• 格式: Article
• 語言: English
• 出版: Faculty of Mechanical Engineering 2000
• 主題: TJ Mechanical engineering and machinery; QA Mathematics
• 在線閱讀: 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

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...