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Modified active force control and iterative learning control of a robot arm

Mailah, Musa (2006) Modified active force control and iterative learning control of a robot arm. In: Advances in Mechanical Engineering Part 2 - 2006. Penerbit UTM, Johor , pp. 137-150. ISBN 978-983-52-0543-9

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Official URL: http://www.penerbit.utm.my/bookchapterdoc/FKM/book...


This chapter is concerned with the simulation study of a robot control system based on a refined and extended disturbance observer (DO) strategy proposed by Ohnishi et al. (Nakao et al., 1987; Komada and Ohnishi, 1990) but this time includes an iterative learning control strategy in one of its loop. It has been shown that the scheme is very similar to the active force control (AFC), first proposed by Hewit and Burdess (1981). The main difference lies in the feedback signal used to compensate for the disturbances; in AFC, acceleration signal is explicitly used while for the DO, the velocity signal is utilized instead (Mailah, 1998). For this reason, the DO method is known as Modified Active Force Control (MAFC) for the sake of comparative study in the proposed research. The scheme is also developed to verify the effectiveness of the learning control algorithms used in the previous study. The scheme is to be known as Modified Active Force Control And Iterative Learning or in brief, the MAFCAIL control scheme. Unlike the previous AFCAIL scheme described in Mailah (2000) where the two initial conditions of the estimated inertia matrix are considered, the estimated nominal inertia matrix for the scheme is computed based on a single initial condition of IN1=IN2 which starts from zero. In other words, no prior knowledge of the inertia matrix is assumed. The types of learning algorithms, desired trajectory and external disturbances used are similar to those described in the AFCAIL scheme to facilitate the like for like comparison with the other control methods previously studied.

Item Type:Book Section
Subjects:T Technology > TJ Mechanical engineering and machinery
Divisions:Mechanical Engineering
ID Code:25692
Deposited By: Mrs Liza Porijo
Deposited On:25 May 2012 04:04
Last Modified:05 Feb 2017 03:34

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