IEEE - Institute of Electrical and Electronics Engineers, Inc. - Resonance-based motion control method for multi-joint robot through combining stiffness adaptation and iterative learning control

2009 IEEE International Conference on Robotics and Automation (ICRA)

Author(s): Uemura, M. ; Kawamura, S.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 May 2009
Conference Location: Kobe, Japan, Japan
Conference Date: 12 May 2009
Page(s): 1,543 - 1,548
ISBN (CD): 978-1-4244-2789-5
ISBN (Paper): 978-1-4244-2788-8
ISSN (Paper): 1050-4729
DOI: 10.1109/ROBOT.2009.5152717
Regular:

This paper proposes a new trajectory tracking control method for multi-joint robots by combining stiffness adaptation and iterative learning control. The proposed controller achieves trajectory... View More

Advertisement