{"title":"Learning-based hybrid control of closed-kinematic chain robotic end-effectors","authors":"C. Nguyen, F. Pooran, T. Premack","doi":"10.1109/ISIC.1988.65489","DOIUrl":null,"url":null,"abstract":"The authors propose a control scheme that combines the concepts of hybrid control and learning control for controlling force and position of a six-degree-of-freedom robotic end-effector with a closed-kinematic chain mechanism, which performs repeatable tasks. The control scheme consists of two control systems: the hybrid control system and the learning control system. The hybrid control system is composed of two feedback loops, a position loop and a force loop, which produce inputs to end-effector actuators, based on errors in position and contact forces of selected degrees of freedom. The learning control system, consisting of two proportional-derivative type learning controllers also arranged in a hybrid structure, provides additional inputs to the actuators to improve the end-effector performance after each trial. Experimental studies performed on a two-degree-of-freedom end-effector show that the control scheme provides path tracking with satisfactory precision while maintaining contact forces with minimal errors after several trials.<<ETX>>","PeriodicalId":155616,"journal":{"name":"Proceedings IEEE International Symposium on Intelligent Control 1988","volume":"16 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1988-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings IEEE International Symposium on Intelligent Control 1988","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ISIC.1988.65489","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 1
Abstract
The authors propose a control scheme that combines the concepts of hybrid control and learning control for controlling force and position of a six-degree-of-freedom robotic end-effector with a closed-kinematic chain mechanism, which performs repeatable tasks. The control scheme consists of two control systems: the hybrid control system and the learning control system. The hybrid control system is composed of two feedback loops, a position loop and a force loop, which produce inputs to end-effector actuators, based on errors in position and contact forces of selected degrees of freedom. The learning control system, consisting of two proportional-derivative type learning controllers also arranged in a hybrid structure, provides additional inputs to the actuators to improve the end-effector performance after each trial. Experimental studies performed on a two-degree-of-freedom end-effector show that the control scheme provides path tracking with satisfactory precision while maintaining contact forces with minimal errors after several trials.<>