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Intelligent active force control of a rigid robot arm using embedded iterative learning algorithm

The paper presents a novel approach to estimating the inertia matrix of a robot arm adaptively and on-line using an iterative learning algorithm. It is employed in conjunction with an active force control strategy which has been shown to be very effective in accommodating the disturbances. A compreh...

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Main Author: Mailah, Musa
Format: Article
Language:English
Published: Faculty of Mechanical Engineering 2000
Subjects:
TJ Mechanical engineering and machinery
QA Mathematics
Online Access:http://eprints.utm.my/id/eprint/8313/1/MusaMailah2000_IntelligentActiveForceControlof.pdf
http://eprints.utm.my/id/eprint/8313/
http://portal.psz.utm.my/psz/index.php?option=com_content&task=view&id=128&Itemid=305&PHPSESSID=81b664e998055f65b4ccff8f61bf7cb2
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spelling my.utm.83132017-10-23T09:17:00Z http://eprints.utm.my/id/eprint/8313/ Intelligent active force control of a rigid robot arm using embedded iterative learning algorithm Mailah, Musa TJ Mechanical engineering and machinery QA Mathematics The paper presents a novel approach to estimating the inertia matrix of a robot arm adaptively and on-line using an iterative learning algorithm. It is employed in conjunction with an active force control strategy which has been shown to be very effective in accommodating the disturbances. A comprehensive study is performed on a rigid two link manipulator subject to a number of loading conditions. Results clearly indicate the effectiveness of the control scheme in compensating the disturbances and at the same time the estimated inertia matrix is optimized to values corresponding to the converged track error as learning progresses. The viability of the proposed control scheme is illustrated through an experimental work carried out on a robot arm. Faculty of Mechanical Engineering 2000-12 Article PeerReviewed application/pdf en http://eprints.utm.my/id/eprint/8313/1/MusaMailah2000_IntelligentActiveForceControlof.pdf Mailah, Musa (2000) Intelligent active force control of a rigid robot arm using embedded iterative learning algorithm. Jurnal Mekanikal, 2 (10). pp. 16-45. ISSN 0127-3396 http://portal.psz.utm.my/psz/index.php?option=com_content&task=view&id=128&Itemid=305&PHPSESSID=81b664e998055f65b4ccff8f61bf7cb2
institution Universiti Teknologi Malaysia
building UTM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknologi Malaysia
content_source UTM Institutional Repository
url_provider http://eprints.utm.my/
language English
topic TJ Mechanical engineering and machinery
QA Mathematics
spellingShingle TJ Mechanical engineering and machinery
QA Mathematics
Mailah, Musa
Intelligent active force control of a rigid robot arm using embedded iterative learning algorithm
description The paper presents a novel approach to estimating the inertia matrix of a robot arm adaptively and on-line using an iterative learning algorithm. It is employed in conjunction with an active force control strategy which has been shown to be very effective in accommodating the disturbances. A comprehensive study is performed on a rigid two link manipulator subject to a number of loading conditions. Results clearly indicate the effectiveness of the control scheme in compensating the disturbances and at the same time the estimated inertia matrix is optimized to values corresponding to the converged track error as learning progresses. The viability of the proposed control scheme is illustrated through an experimental work carried out on a robot arm.
format Article
author Mailah, Musa
author_facet Mailah, Musa
author_sort Mailah, Musa
title Intelligent active force control of a rigid robot arm using embedded iterative learning algorithm
title_short Intelligent active force control of a rigid robot arm using embedded iterative learning algorithm
title_full Intelligent active force control of a rigid robot arm using embedded iterative learning algorithm
title_fullStr Intelligent active force control of a rigid robot arm using embedded iterative learning algorithm
title_full_unstemmed Intelligent active force control of a rigid robot arm using embedded iterative learning algorithm
title_sort intelligent active force control of a rigid robot arm using embedded iterative learning algorithm
publisher Faculty of Mechanical Engineering
publishDate 2000
url http://eprints.utm.my/id/eprint/8313/1/MusaMailah2000_IntelligentActiveForceControlof.pdf
http://eprints.utm.my/id/eprint/8313/
http://portal.psz.utm.my/psz/index.php?option=com_content&task=view&id=128&Itemid=305&PHPSESSID=81b664e998055f65b4ccff8f61bf7cb2
_version_ 1643644966521536512
score 13.211869

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