TY - GEN
T1 - Impedance control of robot manipulator in contact task using machine learning
AU - Kim, Byungchan
AU - Park, Shinsuk
PY - 2006
Y1 - 2006
N2 - 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.
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 -