Indirect adaptive learning of acceleration feedback control for chained multiple mass-spring-damper systems

被引：0
|
作者：
Dieulot, J. Y. [1 ]
Colas, F. [1 ]
Barre, P. J. [1 ]
Borne, P. [2 ]
机构：
[1] ENSAM, Technol Res Team, 8 Bd Louis 14, F-59000 Lille, France
[2] Ecole Cent Lille, UMR 8146, LAGIS, F-59615 Villeneuve, France
来源：
PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10 | 2007年
关键词：
iterative learning control; flexible arms; path planning for manipulators; calibration and identification;
D O I：
10.1109/ROBOT.2007.363840
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
An indirect Iterative Learning algorithm has 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.
引用
收藏
页码：2495 / +
页数：2
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