Implementating a hybrid learning force control scheme
Authors:
- N. SadeghNSN. Sadegh
- 1 February 1994
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Control Systems
- Vol. 14 (1) , 72-79
Abstract
The theory and implementation of a repetitive learning control algorithm for hybrid position and force control of robotic manipulators is presented here. The complete control system involves learning position control for translational motion tangent to an unknown surface, learning force control normal to the surface, and learning orientation control using torque feedback to maintain tangential motion relative to the surface. An IBM 7545 robot equipped with a wrist force/torque sensor is used to evaluate the performance of the proposed controller.Keywords
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