Smagt, P. van der and Groen, F. and Schulten, K. (1996) Analysis and control of a rubbertuator arm. [Journal (Paginated)]
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Abstract
The control of light-weight compliant robot arms is cumbersome due to the fact that their Coriolis forces are large, and the forces exerted by the relatively weak actuators may change in time due to external (e.g., temperature) influences. We describe and analyse the behaviour of a light-weight robot arm, the SoftArm robot. It is found that the hysteretic force-position relationship of the arm can be explained from its structure. This knowledge is used in the construction of a neural-network based controller. Experiments show that the network is able to accurately control the robot arm after a training session of only a few minutes.
Item Type: | Journal (Paginated) |
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Keywords: | robot arm dynamics, light-weight robot, feed-forward network, learning, rubbertuator, SoftArm, analysis |
Subjects: | Computer Science > Neural Nets Computer Science > Robotics |
ID Code: | 492 |
Deposited By: | van der Smagt, Patrick |
Deposited On: | 03 Jul 1998 |
Last Modified: | 11 Mar 2011 08:54 |
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