Universiti Teknologi Malaysia Institutional Repository

Control of a robot arm using iterative learning algorithm with a stopping criterion

Mailah, Musa and Jonathan Chong, Wun Shiung (2002) Control of a robot arm using iterative learning algorithm with a stopping criterion. Jurnal Teknologi A (37A). pp. 55-72. ISSN 0127-9696

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Official URL: http://www.penerbit.utm.my/onlinejournal/37/A/JT37...

Abstract

The robust performance of a robot control scheme is vital to ensure that the robot accomplishes its tasks desirably in a constraint environment involving disturbances, parametric changes, uncertainties and varied operating conditions. The study introduces the Active Force Control and Iterative Learning Algorithm (AFCAIL) scheme with an improved feature in the form of a suitably designed stopping criterion incorporated in the control strategy. The scheme is applied to the control of a horiziontally operated robotic two-link planar manipulator. The proposed stopping criterion is specifically designed to halt the iterative learning process when the conditions related to the accuracy of the performed tasks and the acquisition of appropriate estimated inertia matrix of the robot arm are favourably met. In this way, the robot is said to perform desirably and excellently. The effectiveness of the scheme is also investigated by considering a number different loading and operating conditions.

Item Type:Article
Uncontrolled Keywords:robot, active force control, iterative learning algorithm, stopping criterion
Subjects:T Technology > TJ Mechanical engineering and machinery
Divisions:Mechanical Engineering
ID Code:1320
Deposited By: En Mohd. Nazir Md. Basri
Deposited On:02 Mar 2007 03:56
Last Modified:24 May 2012 06:24

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