On iterative learning control for simultaneous force/position trajectory tracking by using a 5 D.O.F. robotic thumb under non-holonomic rolling constraints

Kenji Tahara, Suguru Arimoto, Masahiro Sekimoto, Morio Yoshida, Zhi Wei Luo

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

This paper proposes an iterative learning control method for simultaneous force/position tracking tasks by using a 5 D.O.F. robotic thumb under non-holonomic rolling constraints. In our previous works, "blind touching", which is defined as a point-to-point control scheme for the robot to realize a desired contact position and a contact force simultaneously without any external sensing, have proposed. In this paper, an iterative learning control manner to realize a desired continuous trajectory of the center of the contact point together with a desired contact force on the task plane is proposed. The usefulness of this learning control method is demonstrated by showing results of computer simulations.

Original languageEnglish
Title of host publication2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Pages2611-2616
Number of pages6
DOIs
Publication statusPublished - Sep 18 2008
Event2008 IEEE International Conference on Robotics and Automation, ICRA 2008 - Pasadena, CA, United States
Duration: May 19 2008May 23 2008

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2008 IEEE International Conference on Robotics and Automation, ICRA 2008
CountryUnited States
CityPasadena, CA
Period5/19/085/23/08

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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