Transactions of the Korean Society of Mechanical Engineers A (대한기계학회논문집A)

The Korean Society of Mechanical Engineers (대한기계학회)
권호 표지
DOI QR코드

DOI QR Code

Hybrid Position/Force Control of the Direct-Drive Robot Using Learning Controller

학습제어기를 이용한 직접구동형 로봇의 하이브리드 위치/힘 제어

  • Published : 2000.03.01
Download PDF
⟨ Previous Next ⟩

Abstract

The automatization by industrial robot of today is merely rely on to the simple position repeating works, but requirements of research and development to the force control which would adapt positively to various restriction or contacting works to environment. In this paper, a learning control algorithm using, neural networks is proposed for the position and force control by a direct-drive robot. The proposed controller is the feedback controller to which the learning function of neural network is added on to and has a character of improving controller's efficiency by learning. The effectiveness of the proposed algorithm is demonstrated by the experiment on the hybrid position and force control of a parallelogram link robot with a force sensor.

Keywords

References

  1. Raibert, M.H. and Craig, J.J., 1981, 'Hybrid Position/Force Control of Manipulators,' ASME. Journal of Dynamic Systems, Measurement and Control, Vol. 102, No. 2, pp. 126-133
  2. Khatib, O., 1987, 'A Unified Approach for Motion and Force Control of Robot Manipulators : The Operational Space Formulation,' IEEE Journal of Robotics and Automation, Vol. RA-3, No. 1, pp. 43-53
  3. Yoshikawa, T. and Sudou, A., 1990, 'Dynamic Hybrid Position/Force Control of Robot Manipulators: On-Line Estimation of Unknown Constraint,' Proceedings of the IEEE International Conference on Robotics and Automation, pp. 1231-1236 https://doi.org/10.1109/ROBOT.1990.126166
  4. Hogan, H., 1985, 'Impedance Control : An Approach to Manipulation, Part I,II,III,' ASME. Journal of Dynamic Systems, Measurement, and Control, Vol. 107, No. 1, pp. 1 ~24
  5. Lawrence, D.A., 1988, 'Impedance Control Stability Properties in Common Implementations,' Proceedings of the IEEE International Conference on Robotics and Automation, pp. 1185-1190 https://doi.org/10.1109/ROBOT.1988.12222
  6. Mason, M.T., 1981, 'Compliance and Force Control for Computer Controlled Manipulators,' IEEE Trans, on System, Man and Cybernetics, Vol. SMC-II, No. 6, pp. 418-432
  7. Asada, H. and Kanade, T., 1983, 'Design of Direct-Drive Mechanical Arms,' ASME, Journal of Vibration, Acoustics, Stress and Reliability in Design, Vol. 105, No. 3, pp. 312-316
  8. Hwang, Y.Y. and Todo, I., 1994, 'Cooperative Control of Two Direct-Drive Robots Using Neural Networks,' JSME International Journal(C), Vol. 37, No. 2, pp. 335-341
  9. Rumelhart, D.E., Hinton, G.E. and Williams, R.J., 1986, 'Learning Representation by Back-Propagating Errors,' Nature, Vol. 323, No. 9, pp. 533-536
  10. 황용연,1997, '학습제어기를 이용한 직접구동형 로봇의 힘제어,' 대한기계학회눈문집(A), 제 21권 제11호, pp. 1819-1826