Impedance control of robot manipulator in contact task using machine learning

Byungchan Kim, Shinsuk Park

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

In performing contact tasks using robot manipulators, force control is essential. One approach is to select appropriate stiffness ellipse at the endpoint of the manipulator, where stiffness ellipse is a geometrical shape of force element represented in the principal axis of task space. In this study, we introduce a novel method to tailor stiffness ellipse required to perform contact tasks by using Associative Search Network. Using appropriate performance indexes in the open-door task experiment, we acquired stiffness ellipse trajectory which optimizes dynamic movement of manipulator. Derived stiffness ellipse (or impedance in general) through learning process can be used for the similar task of learning process.

Original languageEnglish
Title of host publication2006 SICE-ICASE International Joint Conference
Pages2590-2594
Number of pages5
DOIs
Publication statusPublished - 2006
Event2006 SICE-ICASE International Joint Conference - Busan, Korea, Republic of
Duration: 2006 Oct 182006 Oct 21

Publication series

Name2006 SICE-ICASE International Joint Conference

Other

Other2006 SICE-ICASE International Joint Conference
CountryKorea, Republic of
CityBusan
Period06/10/1806/10/21

Keywords

  • Associative search network
  • Contact task
  • Impedance control
  • Reinforcement learning
  • Stiffness ellipse

ASJC Scopus subject areas

  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Kim, B., & Park, S. (2006). Impedance control of robot manipulator in contact task using machine learning. In 2006 SICE-ICASE International Joint Conference (pp. 2590-2594). [4108082] (2006 SICE-ICASE International Joint Conference). https://doi.org/10.1109/SICE.2006.314795