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

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

3 被引用数 (Scopus)

抄録

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.

本文言語英語
ホスト出版物のタイトル2008 IEEE International Conference on Robotics and Automation, ICRA 2008
ページ2611-2616
ページ数6
DOI
出版ステータス出版済み - 9 18 2008
イベント2008 IEEE International Conference on Robotics and Automation, ICRA 2008 - Pasadena, CA, 米国
継続期間: 5 19 20085 23 2008

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
ISSN(印刷版)1050-4729

その他

その他2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Country米国
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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