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

Yusuke Ichijo, Toshiyuki Murao, Hiroyuki Kawai, Masayuki Fujita

研究成果: Conference contribution

4 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2014 IEEE Conference on Control Applications, CCA 2014
出版社Institute of Electrical and Electronics Engineers Inc.
ページ234-239
ページ数6
ISBN(印刷版)9781479974092
DOI
出版ステータスPublished - 2014 12 9
イベント2014 IEEE Conference on Control Applications, CCA 2014 - Juan Les Antibes
継続期間: 2014 10 82014 10 10

Other

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

ASJC Scopus subject areas

  • Computer Science Applications
  • Control and Systems Engineering

フィンガープリント 「Passivity-based iterative learning control for 2DOF robot manipulators with antagonistic bi-articular muscles」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル