Learning computed torque control using virtual robot manipulator concept

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

Abstract

The presented novel iterative learning control method addresses the problem to make a robot track a desired trajectory. The control scheme is based on the use of repeated trials of tracking the given trajectory. After each trial the deviation of the joint torque from the reference value is described by an equation obtained by linearization about the reference trajectory. This equation can be divided into two parts, where the second one will be regarded as the dynamic model of a virtual robot manipulator which works in virtual time domain and has the same kinematic structure as the original robot. The basic idea of the learning computed control technique is to use the computed torque method for the virtual robot manipulator and to add the obtained virtual joint torques to the learning equation as a correction term. Simulation results are presented to demonstrate the performance of the proposed control method for end point control of a two joint robot manipulator.

Original languageEnglish
Title of host publicationIEEE International Workshop on Emerging Technologies and Factory Automation
Subtitle of host publicationTechnology for the Intelligent Factory - Proceedings, ETFA 1992
EditorsR. Zurawski, T.S. Dillon
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages556-560
Number of pages5
ISBN (Electronic)0780308867
DOIs
Publication statusPublished - Jan 1 1992
Event1992 IEEE International Workshop on Emerging Technologies and Factory Automation, ETFA 1992 - Melbourne, Australia
Duration: Aug 11 1992Aug 14 1992

Publication series

NameIEEE International Conference on Emerging Technologies and Factory Automation, ETFA
Volume1992-August
ISSN (Print)1946-0740
ISSN (Electronic)1946-0759

Conference

Conference1992 IEEE International Workshop on Emerging Technologies and Factory Automation, ETFA 1992
CountryAustralia
CityMelbourne
Period8/11/928/14/92

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ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Industrial and Manufacturing Engineering
  • Computer Science Applications

Cite this

Rudas, I. (1992). Learning computed torque control using virtual robot manipulator concept. In R. Zurawski, & T. S. Dillon (Eds.), IEEE International Workshop on Emerging Technologies and Factory Automation: Technology for the Intelligent Factory - Proceedings, ETFA 1992 (pp. 556-560). [683314] (IEEE International Conference on Emerging Technologies and Factory Automation, ETFA; Vol. 1992-August). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ETFA.1992.683314