Title :
Learning impedance control for robotic manipulators
Author :
Cheah, Chien-Chern ; Wang, Danwei
Author_Institution :
Sch. of Electr. & Electron. Eng., Nanyang Technol. Inst., Singapore
fDate :
6/1/1998 12:00:00 AM
Abstract :
In this paper, an iterative learning impedance control problem for robotic manipulators is formulated and solved. A target impedance is specified and a learning controller is designed such that the system follows the desired response specified by the target model as the actions are repeated. A design method for analyzing the convergence of the learning impedance system is developed. A sufficient condition for guaranteeing the convergence of the system is also derived. The proposed learning impedance control scheme is implemented on an industrial selective compliance assembly robot arm (SCARA) robot, SEIKO TT3000. Experimental results verify the theory and confirm the effectiveness of the learning impedance controller
Keywords :
convergence; force control; industrial manipulators; intelligent control; iterative methods; learning systems; manipulator dynamics; SEIKO TT3000 robot; assembly robot arm; convergence; dynamics; force control; impedance control; industrial manipulators; iterative learning control; sufficient condition; Convergence; Design methodology; Electrical equipment industry; Impedance; Industrial control; Manipulators; Robot control; Robotic assembly; Service robots; Sufficient conditions;
Journal_Title :
Robotics and Automation, IEEE Transactions on