Adaptive active force control of a robotic arm employing twin iterative learning algorithms / Musa Mailah and Ong Miaw Yong

• Main Authors: Mailah, Musa, Ong, Miaw Yong
• Format: Article
• Language: English
• Published: UPENA 2004
• Subjects: QA Mathematics; Mechanical devices and figures. Automata. Ingenious mechanisms.Robots (General)
• Online Access: http://ir.uitm.edu.my/id/eprint/11393/1/AJ_MUSA%20MAILAH%20JOME%2005.pdf; http://ir.uitm.edu.my/id/eprint/11393/; https://jmeche.uitm.edu.my/
• Institution: Universiti Teknologi Mara

The paper highlights a novel and robust method to control a robotic arm using iterative learning technique embedded in an active force control strategy. Two iterative learning algorithms are employed in the study - the first is used to tune automatically the controller gains while the second to esti...