Resonance-based motion control method for multi-joint robot through combining stiffness adaptation and iterative learning control

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2009, Pages 1543-1548

  Uemura, Mitsunori ^a   Kawamura, Sadao ^a  

^a RITSUMEIKAN UNIVERSITY   (Japan)

Author keywords

Adaptive control; Iterative learning control; Resonance; Robot dynamics; Stiffness optimization

Indexed keywords

ADAPTIVE CONTROL; ELASTIC ELEMENT; HIGH ENERGY EFFICIENCY; ITERATIVE LEARNING CONTROL; MULTI DEGREE-OF-FREEDOM; MULTI-JOINT ROBOTS; NON-LINEAR DYNAMICS; PARAMETER VALUES; ROBOT DYNAMICS; TRAJECTORY TRACKING; TRAJECTORY TRACKING CONTROL;

ADAPTIVE CONTROL SYSTEMS; CONTROL THEORY; EDUCATION; ENERGY EFFICIENCY; LEARNING ALGORITHMS; LEARNING SYSTEMS; OPTIMIZATION; RESONANCE; ROBOTICS; ROBOTS; STIFFNESS; TWO TERM CONTROL SYSTEMS;

CONTROLLERS;

EID: 70350370261     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2009.5152717     Document Type: Conference Paper

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