Adaptive active force control of a robotic arm employing twin iterative learning algorithms / Musa Mailah and Ong Miaw Yong
The paper highlights a novel and robust method to control a robotic arm using iterative learning technique embedded in an active force control strategy. Two iterative learning algorithms are employed in the study - the first is used to tune automatically the controller gains while the second to esti...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
UPENA
2004
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| Subjects: | |
| Online Access: | https://ir.uitm.edu.my/id/eprint/11393/1/AJ_MUSA%20MAILAH%20JOME%2005.pdf |
| _version_ | 1796899645651156992 |
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| author | Mailah, Musa Ong, Miaw Yong |
| author_facet | Mailah, Musa Ong, Miaw Yong |
| author_sort | Mailah, Musa |
| collection | UITM |
| description | The paper highlights a novel and robust method to control a robotic arm using iterative learning technique embedded in an active force control strategy. Two iterative learning algorithms are employed in the study - the first is used to tune automatically the controller gains while the second to estimate the inertia matrix of the robotic arm. These parameters are adoptively computed while the robot is executing a trajectory tracking task and subject to some form of external disturbance. No priori knowledge of both the controller gains and the estimated inertia matrix are ever assumed in the study. In this way, an adaptive and robust control scheme is derived. The effectiveness of the
method is verified and can be seen from the results of the work presented in this paper. A trajectory track control of a two-link robot arm employing the proposed scheme with a number of operating and loading conditions is investigated in the study. |
| first_indexed | 2024-03-06T01:24:01Z |
| format | Article |
| id | oai:ir.uitm.edu.my:11393 |
| institution | Universiti Teknologi MARA |
| language | English |
| last_indexed | 2024-03-06T01:24:01Z |
| publishDate | 2004 |
| publisher | UPENA |
| record_format | dspace |
| spelling | oai:ir.uitm.edu.my:113932016-07-22T07:51:25Z https://ir.uitm.edu.my/id/eprint/11393/ Adaptive active force control of a robotic arm employing twin iterative learning algorithms / Musa Mailah and Ong Miaw Yong jmeche Mailah, Musa Ong, Miaw Yong QA Mathematics Mechanical devices and figures. Automata. Ingenious mechanisms.Robots (General) The paper highlights a novel and robust method to control a robotic arm using iterative learning technique embedded in an active force control strategy. Two iterative learning algorithms are employed in the study - the first is used to tune automatically the controller gains while the second to estimate the inertia matrix of the robotic arm. These parameters are adoptively computed while the robot is executing a trajectory tracking task and subject to some form of external disturbance. No priori knowledge of both the controller gains and the estimated inertia matrix are ever assumed in the study. In this way, an adaptive and robust control scheme is derived. The effectiveness of the method is verified and can be seen from the results of the work presented in this paper. A trajectory track control of a two-link robot arm employing the proposed scheme with a number of operating and loading conditions is investigated in the study. UPENA 2004 Article PeerReviewed text en https://ir.uitm.edu.my/id/eprint/11393/1/AJ_MUSA%20MAILAH%20JOME%2005.pdf Adaptive active force control of a robotic arm employing twin iterative learning algorithms / Musa Mailah and Ong Miaw Yong. (2004) Journal of Mechanical Engineering (JMechE) <https://ir.uitm.edu.my/view/publication/Journal_of_Mechanical_Engineering_=28JMechE=29/>, 1 (1). pp. 51-63. ISSN 1823-5514 ; 2550-164X https://jmeche.uitm.edu.my/ |
| spellingShingle | QA Mathematics Mechanical devices and figures. Automata. Ingenious mechanisms.Robots (General) Mailah, Musa Ong, Miaw Yong Adaptive active force control of a robotic arm employing twin iterative learning algorithms / Musa Mailah and Ong Miaw Yong |
| title | Adaptive active force control of a robotic arm employing twin iterative learning algorithms / Musa Mailah and Ong Miaw Yong |
| title_full | Adaptive active force control of a robotic arm employing twin iterative learning algorithms / Musa Mailah and Ong Miaw Yong |
| title_fullStr | Adaptive active force control of a robotic arm employing twin iterative learning algorithms / Musa Mailah and Ong Miaw Yong |
| title_full_unstemmed | Adaptive active force control of a robotic arm employing twin iterative learning algorithms / Musa Mailah and Ong Miaw Yong |
| title_short | Adaptive active force control of a robotic arm employing twin iterative learning algorithms / Musa Mailah and Ong Miaw Yong |
| title_sort | adaptive active force control of a robotic arm employing twin iterative learning algorithms musa mailah and ong miaw yong |
| topic | QA Mathematics Mechanical devices and figures. Automata. Ingenious mechanisms.Robots (General) |
| url | https://ir.uitm.edu.my/id/eprint/11393/1/AJ_MUSA%20MAILAH%20JOME%2005.pdf |
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