Intelligent active force control of a rigid robot arm using embedded iterative learning algorithm

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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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Bibliographic Details
Main Author:	Mailah, Musa
Format:	Article
Language:	English
Published:	Faculty of Mechanical Engineering 2000
Subjects:	TJ Mechanical engineering and machinery QA Mathematics
Online Access:	http://eprints.utm.my/8313/ http://eprints.utm.my/8313/1/MusaMailah2000_IntelligentActiveForceControlof.pdf

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