Impedance control of robot manipulator in contact task using machine learning

Byungchan Kim; Shinsuk Park

doi:10.1109/SICE.2006.314795

Impedance control of robot manipulator in contact task using machine learning

Byungchan Kim, Shinsuk Park

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	2006 SICE-ICASE International Joint Conference
Pages	2590-2594
Number of pages	5
DOIs	https://doi.org/10.1109/SICE.2006.314795
Publication status	Published - 2006
Event	2006 SICE-ICASE International Joint Conference - Busan, Korea, Republic of Duration: 2006 Oct 18 → 2006 Oct 21

Publication series

Name	2006 SICE-ICASE International Joint Conference

Other

Other	2006 SICE-ICASE International Joint Conference
Country/Territory	Korea, Republic of
City	Busan
Period	06/10/18 → 06/10/21

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

Access to Document

10.1109/SICE.2006.314795

Cite this

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title = "Impedance control of robot manipulator in contact task using machine learning",

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.",

keywords = "Associative search network, Contact task, Impedance control, Reinforcement learning, Stiffness ellipse",

author = "Byungchan Kim and Shinsuk Park",

year = "2006",

doi = "10.1109/SICE.2006.314795",

language = "English",

isbn = "8995003855",

series = "2006 SICE-ICASE International Joint Conference",

pages = "2590--2594",

booktitle = "2006 SICE-ICASE International Joint Conference",

note = "2006 SICE-ICASE International Joint Conference ; Conference date: 18-10-2006 Through 21-10-2006",

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AU - Kim, Byungchan

AU - Park, Shinsuk

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AB - 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.

KW - Associative search network

KW - Contact task

KW - Impedance control

KW - Reinforcement learning

KW - Stiffness ellipse

UR - http://www.scopus.com/inward/record.url?scp=34250776653&partnerID=8YFLogxK

U2 - 10.1109/SICE.2006.314795

DO - 10.1109/SICE.2006.314795

M3 - Conference contribution

AN - SCOPUS:34250776653

SN - 8995003855

SN - 9788995003855

T3 - 2006 SICE-ICASE International Joint Conference

SP - 2590

EP - 2594

BT - 2006 SICE-ICASE International Joint Conference

T2 - 2006 SICE-ICASE International Joint Conference

Y2 - 18 October 2006 through 21 October 2006

ER -

Impedance control of robot manipulator in contact task using machine learning

Abstract

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Keywords

ASJC Scopus subject areas

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