Title :
Learning force/motion control for constrained robot manipulators
Author :
Weimin Xu ; Tianyou Chai
Author_Institution :
Res. Center of Autom., Northeastern Univ., Shenyang, China
Abstract :
This paper develops a motion/force learning control scheme for constrained robot manipulators. The proposed algorithm is able to improve the performance of constrained end-effectors based on the previous operation as the action is repeated, it is very simple and computationally efficient. A sufficient condition is given to ensure the convergence of both motion control and force control. The simulation results of a constrained manipulator are given to show the good performance.
Keywords :
end effectors; force control; learning systems; motion control; constrained end-effectors; constrained robot manipulators; force learning control scheme; motion learning control scheme; Convergence; Force; Manipulators; Mathematical model; Motion control; Robot kinematics; constrained motion; coordinate transformation; learning control; robotic manipulator;
Conference_Titel :
Control Conference (ECC), 1997 European
Conference_Location :
Brussels
Print_ISBN :
978-3-9524269-0-6
