Title :
Indirect Adaptive learning of Acceleration feedback control for Chained Multiple Mass-Spring-Damper Systems
Author :
Dieulot, J.Y. ; Colas, F. ; Barre, P.-J. ; Borne, P.
Author_Institution :
ENSAM, Lille
Abstract :
An indirect iterative learning algorithm has shown to be able to update the parameters of an acceleration feedback controller for flexible manipulators. The fine estimation of the masses of a chain of mass-spring-dampers units allows the simultaneous tuning of both the feedback controller and the trajectory generation. This algorithm has been validated on an industrial robot arm.
Keywords :
acceleration control; adaptive control; feedback; flexible manipulators; iterative methods; learning systems; position control; acceleration feedback control; chained multiple mass-spring-damper systems; flexible arms; flexible manipulators; indirect adaptive learning; indirect iterative learning algorithm; industrial robot arm; path planning; trajectory generation; Acceleration; Adaptive control; Feedback control; Iterative algorithms; Manipulators; Programmable control; Service robots; Servomechanisms; Trajectory; Vibration control; Calibration and Identification; Flexible Arms; Iterative Learning Control; Path Planning for Manipulators;
Conference_Titel :
Robotics and Automation, 2007 IEEE International Conference on
Conference_Location :
Roma
Print_ISBN :
1-4244-0601-3
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2007.363840
