On iterative learning control for simultaneous force/position trajectory tracking by using a 5 D.O.F. robotic thumb under non-holonomic rolling constraints

Kenji Tahara; Suguru Arimoto; Masahiro Sekimoto; Morio Yoshida; Zhi Wei Luo

doi:10.1109/ROBOT.2008.4543606

On iterative learning control for simultaneous force/position trajectory tracking by using a 5 D.O.F. robotic thumb under non-holonomic rolling constraints

Kenji Tahara, Suguru Arimoto, Masahiro Sekimoto, Morio Yoshida, Zhi Wei Luo

Control Systems

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

3 Citations (Scopus)

Abstract

This paper proposes an iterative learning control method for simultaneous force/position tracking tasks by using a 5 D.O.F. robotic thumb under non-holonomic rolling constraints. In our previous works, "blind touching", which is defined as a point-to-point control scheme for the robot to realize a desired contact position and a contact force simultaneously without any external sensing, have proposed. In this paper, an iterative learning control manner to realize a desired continuous trajectory of the center of the contact point together with a desired contact force on the task plane is proposed. The usefulness of this learning control method is demonstrated by showing results of computer simulations.

Original language	English
Title of host publication	2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Pages	2611-2616
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2008.4543606
Publication status	Published - Sept 18 2008
Event	2008 IEEE International Conference on Robotics and Automation, ICRA 2008 - Pasadena, CA, United States Duration: May 19 2008 → May 23 2008

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Other

Other	2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Country/Territory	United States
City	Pasadena, CA
Period	5/19/08 → 5/23/08

All Science Journal Classification (ASJC) codes

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

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10.1109/ROBOT.2008.4543606

Cite this

Tahara, K., Arimoto, S., Sekimoto, M., Yoshida, M., & Luo, Z. W. (2008). On iterative learning control for simultaneous force/position trajectory tracking by using a 5 D.O.F. robotic thumb under non-holonomic rolling constraints. In 2008 IEEE International Conference on Robotics and Automation, ICRA 2008 (pp. 2611-2616). Article 4543606 (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ROBOT.2008.4543606

On iterative learning control for simultaneous force/position trajectory tracking by using a 5 D.O.F. robotic thumb under non-holonomic rolling constraints. / Tahara, Kenji; Arimoto, Suguru; Sekimoto, Masahiro et al.
2008 IEEE International Conference on Robotics and Automation, ICRA 2008. 2008. p. 2611-2616 4543606 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Tahara, K, Arimoto, S, Sekimoto, M, Yoshida, M & Luo, ZW 2008, On iterative learning control for simultaneous force/position trajectory tracking by using a 5 D.O.F. robotic thumb under non-holonomic rolling constraints. in 2008 IEEE International Conference on Robotics and Automation, ICRA 2008., 4543606, Proceedings - IEEE International Conference on Robotics and Automation, pp. 2611-2616, 2008 IEEE International Conference on Robotics and Automation, ICRA 2008, Pasadena, CA, United States, 5/19/08. https://doi.org/10.1109/ROBOT.2008.4543606

Tahara K, Arimoto S, Sekimoto M, Yoshida M, Luo ZW. On iterative learning control for simultaneous force/position trajectory tracking by using a 5 D.O.F. robotic thumb under non-holonomic rolling constraints. In 2008 IEEE International Conference on Robotics and Automation, ICRA 2008. 2008. p. 2611-2616. 4543606. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ROBOT.2008.4543606

Tahara, Kenji ; Arimoto, Suguru ; Sekimoto, Masahiro et al. / On iterative learning control for simultaneous force/position trajectory tracking by using a 5 D.O.F. robotic thumb under non-holonomic rolling constraints. 2008 IEEE International Conference on Robotics and Automation, ICRA 2008. 2008. pp. 2611-2616 (Proceedings - IEEE International Conference on Robotics and Automation).

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abstract = "This paper proposes an iterative learning control method for simultaneous force/position tracking tasks by using a 5 D.O.F. robotic thumb under non-holonomic rolling constraints. In our previous works, {"}blind touching{"}, which is defined as a point-to-point control scheme for the robot to realize a desired contact position and a contact force simultaneously without any external sensing, have proposed. In this paper, an iterative learning control manner to realize a desired continuous trajectory of the center of the contact point together with a desired contact force on the task plane is proposed. The usefulness of this learning control method is demonstrated by showing results of computer simulations.",

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AB - This paper proposes an iterative learning control method for simultaneous force/position tracking tasks by using a 5 D.O.F. robotic thumb under non-holonomic rolling constraints. In our previous works, "blind touching", which is defined as a point-to-point control scheme for the robot to realize a desired contact position and a contact force simultaneously without any external sensing, have proposed. In this paper, an iterative learning control manner to realize a desired continuous trajectory of the center of the contact point together with a desired contact force on the task plane is proposed. The usefulness of this learning control method is demonstrated by showing results of computer simulations.

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On iterative learning control for simultaneous force/position trajectory tracking by using a 5 D.O.F. robotic thumb under non-holonomic rolling constraints

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