Iterative Learning-based Trajectory Generation of Robot Manipulator to Reproduce Force Response of Teaching Device.
Asato WashizuYoshiyuki HattaKazuaki ItoJunya SatoTakayoshi YamadaPublished in: IECON (2022)
Keyphrases
- robot manipulators
- iterative learning
- force control
- trajectory planning
- end effector
- trajectory tracking
- force feedback
- control of robot manipulators
- inverse kinematics
- control scheme
- sliding mode
- iterative learning control
- closed loop
- dynamic model
- error reduction
- pid controller
- e learning
- incremental learning
- degrees of freedom
- learning environment
- fuzzy neural network
- robot arm
- mathematical model
- control system
- artificial neural networks
- pairwise