Iterative learning control for whole-arm object manipulation through coordination of torque/velocity-controlled fingers
Iterative learning control for whole-arm object manipulation through coordination of torque/velocity-controlled fingers
复制标题
通过协调扭矩/速度控制的手指进行全臂物体操纵的迭代学习控制
DOI：
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发表时间：
2015
期刊：
影响因子：
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通讯作者：
T. Yamawaki
中科院分区：
文献类型：
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作者：
M. Yashima;T. Yamawaki
利用速度控制手指和力矩控制手指组成的机械臂系统，提出了一种全臂物体操作的迭代学习控制方案。该迭代学习控制方案由速度控制手指跟踪期望轨迹的PD型迭代学习控制方案和力矩控制手指保持平衡的基于优化的迭代学习控制方案组成。两个控制器之间的切换是为了实现顺应操作。通过实验验证了该方案的有效性。
This paper proposes an iterative learning control scheme for whole-arm object manipulation by using a robotic hand system composed of a velocity-controlled finger and a torque-controlled finger. The novel iterative learning control scheme consists of the PD-type iterative learning control scheme for the velocity-controlled finger to follow the desired trajectory and the optimization-based iterative learning control scheme for the torque-controlled finger to maintain equilibrium. The switching between the two controllers is made to achieve compliant manipulation. The validity of the proposed scheme is demonstrated through experiments.