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A learning algorithm for hybrid force control of robot arms

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1 Author(s)
Lucibello, P. ; Dipartmento di Inf. e Sistemistica, Roma Univ., Italy

An investigation of the hybrid force control of robot arms by learning is presented. A force control scheme based on feedback linearization is used to build an algorithm that improves, trial by trial, force and position tracking over a finite time interval. Unlike 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 proved by means of the contraction mapping principle

Published in:

Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on

Date of Conference:

2-6 May 1993