Passivity-based iterative learning control for 2DOF robot manipulators with antagonistic bi-articular muscles

Yusuke Ichijo, Toshiyuki Murao, Hiroyuki Kawai, Masayuki Fujita

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

This paper investigates iterative learning control based on passivity for two-degree-of-freedom (2DOF) robot manipulators with antagonistic bi-articular muscles. Firstly, a brief summary of dynamics of 2DOF robot manipulators with antagonistic bi-articular muscles is given. Next, an error dynamics of the bi-articular manipulator for iterative learning control that has an output strictly passivity property is constructed. Then, we propose an iterative learning control law for the bi-articular manipulator. The proposed torque input does not need the parameters for the accurate models. Convergence analysis of the closed-loop system is carried out based on passivity. Finally, simulation results are presented in order to confirm the effectiveness of the proposed control law.

Original languageEnglish
Title of host publication2014 IEEE Conference on Control Applications, CCA 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages234-239
Number of pages6
ISBN (Print)9781479974092
DOIs
Publication statusPublished - 2014 Dec 9
Event2014 IEEE Conference on Control Applications, CCA 2014 - Juan Les Antibes
Duration: 2014 Oct 82014 Oct 10

Other

Other2014 IEEE Conference on Control Applications, CCA 2014
CityJuan Les Antibes
Period14/10/814/10/10

Fingerprint

Manipulators
Muscle
Robots
Closed loop systems
Torque

ASJC Scopus subject areas

  • Computer Science Applications
  • Control and Systems Engineering

Cite this

Ichijo, Y., Murao, T., Kawai, H., & Fujita, M. (2014). Passivity-based iterative learning control for 2DOF robot manipulators with antagonistic bi-articular muscles. In 2014 IEEE Conference on Control Applications, CCA 2014 (pp. 234-239). [6981357] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CCA.2014.6981357

Passivity-based iterative learning control for 2DOF robot manipulators with antagonistic bi-articular muscles. / Ichijo, Yusuke; Murao, Toshiyuki; Kawai, Hiroyuki; Fujita, Masayuki.

2014 IEEE Conference on Control Applications, CCA 2014. Institute of Electrical and Electronics Engineers Inc., 2014. p. 234-239 6981357.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Ichijo, Y, Murao, T, Kawai, H & Fujita, M 2014, Passivity-based iterative learning control for 2DOF robot manipulators with antagonistic bi-articular muscles. in 2014 IEEE Conference on Control Applications, CCA 2014., 6981357, Institute of Electrical and Electronics Engineers Inc., pp. 234-239, 2014 IEEE Conference on Control Applications, CCA 2014, Juan Les Antibes, 14/10/8. https://doi.org/10.1109/CCA.2014.6981357
Ichijo Y, Murao T, Kawai H, Fujita M. Passivity-based iterative learning control for 2DOF robot manipulators with antagonistic bi-articular muscles. In 2014 IEEE Conference on Control Applications, CCA 2014. Institute of Electrical and Electronics Engineers Inc. 2014. p. 234-239. 6981357 https://doi.org/10.1109/CCA.2014.6981357
Ichijo, Yusuke ; Murao, Toshiyuki ; Kawai, Hiroyuki ; Fujita, Masayuki. / Passivity-based iterative learning control for 2DOF robot manipulators with antagonistic bi-articular muscles. 2014 IEEE Conference on Control Applications, CCA 2014. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 234-239
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