Name
Abstract | ||
|---|---|---|
This paper deals with a new iterative learning dynamic identification and control method of robot. The robot is closed-loop controlled with a Computed Torque Control (CTC). The parameters of the Inverse Dynamic Model (IDM), which calculates the CTC are calculated to minimize the quadratic error between the actual joint force/torque and a joint force/torque calculated with the Inverse Dynamic Identification Model (IDIM), linear in relation to the parameters. Usually the parameters are off-line linear least squares estimated (IDIM-LS) where the IDIM is calculated with the joint position and its noisy derivatives, which cannot take into account variations of the parameters. The new method called IDIM-ILIC (IDIM with Iterative Learning Identification and Control) overcomes these 2 drawbacks. The parameters are periodically calculated over a moving time window to update the IDM of the CTC, and the IDIM is calculated with the noise-free data of the trajectory generator, which avoids using the noisy derivatives of the actual joint position. A study of convergence of the method is performed in simulation and an experimental setup with stationary parameters and with a variation of the payload on a prismatic joint validates the procedure. |
Year | DOI | Venue |
|---|---|---|
2013 | 10.1109/IROS.2013.6696843 | Intelligent Robots and Systems |
Keywords | Field | DocType |
closed loop systems,force control,learning systems,least mean squares methods,position control,robot dynamics,torque control,CTC,IDIM-LS,closed-loop control,computed torque control,inverse dynamic identification model,iterative control method,iterative learning dynamic identification,joint force-torque,linear least squares,noise-free data,robots,trajectory generator | Convergence (routing),Torque,Computer science,Prismatic joint,Control theory,Quadratic equation,Control engineering,Iterative learning control,Robot,Linear least squares,Trajectory | Conference |
ISSN | Citations | PageRank |
2153-0858 | 0 | 0.34 |
References | Authors | |
11 | 3 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Maxime Gautier | 1 | 477 | 76.28 |
| Jubien, A. | 2 | 6 | 2.02 |
| Alexandre Janot | 3 | 86 | 12.37 |