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Iterative-Learning Hybrid Force/Velocity Control for Contour Tracking.
- Source :
- IEEE Transactions on Robotics; Apr2010, Vol. 26 Issue 2, p388-393, 6p, 6 Diagrams, 2 Graphs
- Publication Year :
- 2010
-
Abstract
- In this paper, we propose a new method, which is based on an iterative-learning-control (ILC) algorithm, for the contour tracking of an object of unknown shape performed by an industrial robot manipulator. In particular, we consider (both implicit and explicit) hybrid force/velocity control whose performance is improved by repeating the task. Here, a time-based reference signal is not present, and therefore, a new approach has been developed, which is different from the typical applications of ILC. Experimental results show the effectiveness of the technique. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 15523098
- Volume :
- 26
- Issue :
- 2
- Database :
- Complementary Index
- Journal :
- IEEE Transactions on Robotics
- Publication Type :
- Academic Journal
- Accession number :
- 49107426
- Full Text :
- https://doi.org/10.1109/TRO.2010.2041265