Iterative-Learning Hybrid Force/Velocity Control for Contour Tracking | IEEE Journals & Magazine | IEEE Xplore

Iterative-Learning Hybrid Force/Velocity Control for Contour Tracking


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 ...Show More

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.
Published in: IEEE Transactions on Robotics ( Volume: 26, Issue: 2, April 2010)
Page(s): 388 - 393
Date of Publication: 22 February 2010

ISSN Information:


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