Force tracking impedance control with unknown environment via an iterative learning algorithm
نویسندگان
چکیده
منابع مشابه
Force Tracking Impedance Control for Robot Manipulators with an Unknown Environment: Theory, Simulation, and Experiment
In impedance control for force tracking, it is well known that the reference trajectory of the robot is calculated from known environmental stiffness. The authors present a simple technique for determining the reference trajectory under the condition that the environment is unknown. The technique is developed based on the replacement of the unknown stiffness with a function of the measured forc...
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In impedance control for contact force tracking, it is well known that the reference trajectory of the robot is calculated from known environment stiiness 1]. Here we present a simple technique for determining the reference trajectory under the condition that the environment stiiness is unknown. The technique is developed based on the replacement of the unknown stiiness with a function of the m...
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ژورنال
عنوان ژورنال: Science China Information Sciences
سال: 2019
ISSN: 1674-733X,1869-1919
DOI: 10.1007/s11432-018-9769-8