Referenced Items are not available for this document.
An investigation on the hybrid force control of robot arms by learning is presented. A well-known force control scheme based on feedback linearization is used to build up an algorithm which improves, trial by trial, force and position tracking over a finite time interval. Differently from other published learning control schemes, the proposed algorithm does not rely on high gain feedback. Robustness and convergence in spite of sufficiently small system parameter uncertainties and disturbances is proven by means of the contraction mapping principle
Published in:
Systems, Man and Cybernetics, Part A: Systems and Humans, IEEE Transactions on
(Volume:28
,
Issue:
2
)
Date of Publication: Mar 1998
- Page(s):
- 241 - 244
- ISSN :
- 1083-4427
- INSPEC Accession Number:
- 5844611
- Digital Object Identifier :
- 10.1109/3468.661151
- Product Type:
- Journals & Magazines
- Date of Current Version :
- 06 August 2002
- Issue Date :
- Mar 1998
- Sponsored by :
- IEEE Systems, Man, and Cybernetics Society
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