INTELLIGENT ACTIVE FORCE CONTROL OF A RIGID ROBOT ARM USING EMBEDDED ITERATIVE LEARNING ALGORITHM
Keywords:
KeywordsAbstract
The paper presents a novel approach to estimating the inertia
matrix of a robot arm adoptively and on-line using an iterative
learning algorithm. Itis employed in conjunction with an active
fo rce control strategy which has been shown to be very effective in
accommodating the disturbances. A comprehensive study is
performed on a rigid two link manipulator subj ect to a number of
loading conditions. Results clearly indicate the effectiveness ofthe
control scheme in compensating the disturbances and at the same
time the estimated inertia matrix is optimized to values
corresponding to the converged track error as learning progresses.
The viability ofthe proposed control scheme is illustrated through
an experimental work carried out on a robot arm.
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