Contact friction compensation for robots using genetic learning algorithms

DOI10.1023/A:1008044317911MaRDI QIDQ1277267zbMATH OpenOpenAlexFDO

Authors Der-Cherng Liaw, Jeng-Tze Huang

Publication date 8 November 1999

Published in Journal of Intelligent \& Robotic Systems (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1023/a:1008044317911

zbMATH Keywords

learninggenetic algorithmsfriction compensationconstrained robots

Mathematics Subject Classification ID

Learning and adaptive systems in artificial intelligence (68T05) Kinematics of mechanisms and robots (70B15) Contact in solid mechanics (74M15) Automated systems (robots, etc.) in control theory (93C85) Theories of friction (tribology) (74A55)

Recommendations

• Adaptive control of robot contact tasks with on-line learning of planar surfaces
• Advances in Neural Networks – ISNN 2005
• Friction compensation as a fault-tolerant control problem
• Robust adaptive friction compensation for tracking control of robot manipulators

Cited in

(1)

• Robot joint friction compensation learning enhanced by 6D virtual sensor

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