Passivity-based iterative learning control for 2DOF robot manipulators with antagonistic bi-articular muscles

Author

Ichijo, Yusuke ; Murao, Toshiyuki ; Kawai, Hiroyuki ; Fujita, Masayuki

Author_Institution

Dept. of Robot., Kanazawa Inst. of Technol., Nonoichi, Japan

fYear

2014

fDate

8-10 Oct. 2014

Firstpage

234

Lastpage

239

Abstract

This paper investigates iterative learning control based on passivity for two-degree-of-freedom (2DOF) robot manipulators with antagonistic bi-articular muscles. Firstly, a brief summary of dynamics of 2DOF robot manipulators with antagonistic bi-articular muscles is given. Next, an error dynamics of the bi-articular manipulator for iterative learning control that has an output strictly passivity property is constructed. Then, we propose an iterative learning control law for the bi-articular manipulator. The proposed torque input does not need the parameters for the accurate models. Convergence analysis of the closed-loop system is carried out based on passivity. Finally, simulation results are presented in order to confirm the effectiveness of the proposed control law.

Keywords

adaptive control; closed loop systems; convergence; iterative learning control; iterative methods; learning systems; manipulator dynamics; torque; 2-DOF robot manipulator dynamics; antagonistic biarticular muscles; closed-loop system; convergence analysis; error dynamics; passivity-based iterative learning control law; strictly passivity property; torque input; two-degree-of-freedom robot manipulators; Convergence; Joints; Manipulator dynamics; Muscles; Torque;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications (CCA), 2014 IEEE Conference on

Conference_Location

Juan Les Antibes

Type

conf

DOI

10.1109/CCA.2014.6981357

Filename

6981357