Intelligent active force control of a rigid robot arm using embedded iterative learning algorithm
The paper presents a novel approach to estimating the inertia matrix of a robot arm adaptively and on-line using an iterative learning algorithm. It is employed in conjunction with an active force control strategy which has been shown to be very effective in accommodating the disturbances. A compreh...
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| Format: | Article |
| Language: | English |
| Published: |
Faculty of Mechanical Engineering,
2000-12.
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| Subjects: | |
| Online Access: | Get fulltext |