Learning of admittance matrix elements for manipulative operations
Learning of admittance matrix elements for manipulative operations
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学习操纵操作的导纳矩阵元素
DOI：
10.1109/iros.1996.571048
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发表时间：
1996
期刊：
影响因子：
--
通讯作者：
K. Iwata
中科院分区：
文献类型：
--
作者：
S. Hirai;Takashi Inatsugi;K. Iwata
提出了一种学习阻尼控制中导纳矩阵元素的方法。分析确定导纳矩阵元素很困难，因为它们取决于被操纵对象的许多物理属性，而这些物理属性不易识别。我们提出了一种通过操纵操作的迭代试验来获得导纳矩阵元素的方法。首先，对配合过程进行运动学分析，并根据可修改性分析导出导纳矩阵元素的条件。其次，研究了配合过程中的反作用力，并定义了评估该过程的函数。然后，基于非线性规划技术开发了学习算法。所开发的算法应用于计算机模拟中的交配操作。最后，实验结果证明了该方法的有效性。
One approach to the learning of admittance matrix elements in, damping control is presented. It is difficult to determine admittance matrix elements analytically since they depend upon many physical properties, which are not identified easily, of manipulated objects. We propose a method to obtain admittance matrix elements through iterative trials of a manipulative operation. First, mating processes are kinematically analyzed and conditions for admittance matrix elements are derived based on modifiability analysis. Second, reaction forces during a mating process are investigated and a function to evaluate the process is defined. A learning algorithm, is then, developed based on nonlinear programming techniques. The developed algorithm is applied to a mating operation in a computer simulation. Finally, an experimental result is shown to demonstrate the validity of the proposed method.