Online Learning of Virtual Impedance Parameters in Non-Contact Impedance Control Using Neural Networks
IEEE Transactions on Systems, Man, and Cybernetics-Part B: Cybernetics Volume 34 Issue 5
Page 2112-2118
published_at 2004
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Title ( eng ) |
Online Learning of Virtual Impedance Parameters in Non-Contact Impedance Control Using Neural Networks
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Creator |
Terauchi Mutsuhiro
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Source Title |
IEEE Transactions on Systems, Man, and Cybernetics-Part B: Cybernetics
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Volume | 34 |
Issue | 5 |
Start Page | 2112 |
End Page | 2118 |
Abstract |
Impedance control is one of the most effective methods forcontrolling the interaction between a manipulator and a task environment.In conventional impedance control methods, however, the manipulatorcannot be controlled until the end-effector contacts task environments. Anoncontact impedance control method has been proposed to resolve such aproblem. This method on only can regulate the end-point impedance, butalso the virtual impedance that works between the manipulator and theenvironment by using visual information. This paper proposes a learningmethod using neural networks to regulate the virtual impedance parametersaccording to a given task. The validity of the proposed method wasverified through computer simulations and experiments with a multijointrobotic manipulator.
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Keywords |
Impact control
impedance control
noncontact impedance
neural networks (NN)
robot manipulator
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NDC |
Mechanical engineering [ 530 ]
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Language |
eng
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Resource Type | journal article |
Publisher |
IEEE
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Date of Issued | 2004 |
Rights |
Copyright (c) 2004 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
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Publish Type | Version of Record |
Access Rights | open access |
Source Identifier |
[ISSN] 1083-4419
[DOI] http://dx.doi.org/10.1109/TSMCB.2004.829133
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