An Iterative Learning- Control Scheme for Impedance Control of Robotic Manipulators

@article{Wang1998AnIL,
  title={An Iterative Learning- Control Scheme for Impedance Control of Robotic Manipulators},
  author={Danwei Wang and Chien Chern Cheah},
  journal={I. J. Robotics Res.},
  year={1998},
  volume={17},
  pages={1091-1104}
}
In this paper, an iterative learning-control law is proposed for impedance control of robotic manipulators. In most of the learningcontroller designs in the literature, a reference trajectory is given and a learning algorithm is designed to force the trajectory tracking error to converge to zero as the action is repeated. In contrast, our approach allows the performance of the learning system to be specified by a target impedance. A design method for analyzing the learning-impedance system is… CONTINUE READING

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