Impedance control of robot manipulator in contact task using machine learning

Byungchan Kim, Shinsuk Park

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    4 Citations (Scopus)

    Abstract

    In performing contact tasks using robot manipulators, force control is essential. One approach is to select appropriate stiffness ellipse at the endpoint of the manipulator, where stiffness ellipse is a geometrical shape of force element represented in the principal axis of task space. In this study, we introduce a novel method to tailor stiffness ellipse required to perform contact tasks by using Associative Search Network. Using appropriate performance indexes in the open-door task experiment, we acquired stiffness ellipse trajectory which optimizes dynamic movement of manipulator. Derived stiffness ellipse (or impedance in general) through learning process can be used for the similar task of learning process.

    Original languageEnglish
    Title of host publication2006 SICE-ICASE International Joint Conference
    Pages2590-2594
    Number of pages5
    DOIs
    Publication statusPublished - 2006
    Event2006 SICE-ICASE International Joint Conference - Busan, Korea, Republic of
    Duration: 2006 Oct 182006 Oct 21

    Publication series

    Name2006 SICE-ICASE International Joint Conference

    Other

    Other2006 SICE-ICASE International Joint Conference
    Country/TerritoryKorea, Republic of
    CityBusan
    Period06/10/1806/10/21

    Keywords

    • Associative search network
    • Contact task
    • Impedance control
    • Reinforcement learning
    • Stiffness ellipse

    ASJC Scopus subject areas

    • Computer Science Applications
    • Control and Systems Engineering
    • Electrical and Electronic Engineering

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