Adaptive active force control of a robotic arm employing twin iterative learning algorithms / Musa Mailah and Ong Miaw Yong

The paper highlights a novel and robust method to control a robotic arm using iterative learning technique embedded in an active force control strategy. Two iterative learning algorithms are employed in the study - the first is used to tune automatically the controller gains while the second to esti...

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Main Authors:	Mailah, Musa, Ong, Miaw Yong
Format:	Article
Language:	English
Published:	UPENA 2004
Subjects:	QA Mathematics Mechanical devices and figures. Automata. Ingenious mechanisms.Robots (General)
Online Access:	http://ir.uitm.edu.my/id/eprint/11393/ http://ir.uitm.edu.my/id/eprint/11393/1/AJ_MUSA%20MAILAH%20JOME%2005.pdf

id	uitm-11393
recordtype	eprints
spelling	uitm-113932016-07-22T07:51:25Z http://ir.uitm.edu.my/id/eprint/11393/ Adaptive active force control of a robotic arm employing twin iterative learning algorithms / Musa Mailah and Ong Miaw Yong Mailah, Musa Ong, Miaw Yong QA Mathematics Mechanical devices and figures. Automata. Ingenious mechanisms.Robots (General) The paper highlights a novel and robust method to control a robotic arm using iterative learning technique embedded in an active force control strategy. Two iterative learning algorithms are employed in the study - the first is used to tune automatically the controller gains while the second to estimate the inertia matrix of the robotic arm. These parameters are adoptively computed while the robot is executing a trajectory tracking task and subject to some form of external disturbance. No priori knowledge of both the controller gains and the estimated inertia matrix are ever assumed in the study. In this way, an adaptive and robust control scheme is derived. The effectiveness of the method is verified and can be seen from the results of the work presented in this paper. A trajectory track control of a two-link robot arm employing the proposed scheme with a number of operating and loading conditions is investigated in the study. UPENA 2004 Article PeerReviewed text en http://ir.uitm.edu.my/id/eprint/11393/1/AJ_MUSA%20MAILAH%20JOME%2005.pdf Mailah, Musa and Ong, Miaw Yong (2004) Adaptive active force control of a robotic arm employing twin iterative learning algorithms / Musa Mailah and Ong Miaw Yong. Journal of Faculty of Mechanical Enginering, 1 (1). pp. 51-63. ISSN 1823-5514
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Teknologi MARA
building	UiTM Institutional Repository
collection	Online Access
language	English
topic	QA Mathematics Mechanical devices and figures. Automata. Ingenious mechanisms.Robots (General)
spellingShingle	QA Mathematics Mechanical devices and figures. Automata. Ingenious mechanisms.Robots (General) Mailah, Musa Ong, Miaw Yong Adaptive active force control of a robotic arm employing twin iterative learning algorithms / Musa Mailah and Ong Miaw Yong
description	The paper highlights a novel and robust method to control a robotic arm using iterative learning technique embedded in an active force control strategy. Two iterative learning algorithms are employed in the study - the first is used to tune automatically the controller gains while the second to estimate the inertia matrix of the robotic arm. These parameters are adoptively computed while the robot is executing a trajectory tracking task and subject to some form of external disturbance. No priori knowledge of both the controller gains and the estimated inertia matrix are ever assumed in the study. In this way, an adaptive and robust control scheme is derived. The effectiveness of the method is verified and can be seen from the results of the work presented in this paper. A trajectory track control of a two-link robot arm employing the proposed scheme with a number of operating and loading conditions is investigated in the study.
format	Article
author	Mailah, Musa Ong, Miaw Yong
author_facet	Mailah, Musa Ong, Miaw Yong
author_sort	Mailah, Musa
title	Adaptive active force control of a robotic arm employing twin iterative learning algorithms / Musa Mailah and Ong Miaw Yong
title_short	Adaptive active force control of a robotic arm employing twin iterative learning algorithms / Musa Mailah and Ong Miaw Yong
title_full	Adaptive active force control of a robotic arm employing twin iterative learning algorithms / Musa Mailah and Ong Miaw Yong
title_fullStr	Adaptive active force control of a robotic arm employing twin iterative learning algorithms / Musa Mailah and Ong Miaw Yong
title_full_unstemmed	Adaptive active force control of a robotic arm employing twin iterative learning algorithms / Musa Mailah and Ong Miaw Yong
title_sort	adaptive active force control of a robotic arm employing twin iterative learning algorithms / musa mailah and ong miaw yong
publisher	UPENA
publishDate	2004
url	http://ir.uitm.edu.my/id/eprint/11393/ http://ir.uitm.edu.my/id/eprint/11393/1/AJ_MUSA%20MAILAH%20JOME%2005.pdf
first_indexed	2023-09-18T22:47:54Z
last_indexed	2023-09-18T22:47:54Z
_version_	1777417348166189056

Adaptive active force control of a robotic arm employing twin iterative learning algorithms / Musa Mailah and Ong Miaw Yong

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