Learning of admittance matrix elements for manipulative operations

S. Hirai, T. Inatsugi, K. Iwata
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96  
One approach to the learning of admittance matrix elements in damping control is presented. It is dicult to determine admittance matrix elements analytically since they depend upon many physical properties, which are not identied e asily, of manipulated o b j e cts. In this article, we will propose a method to obtain admittance matrix elements through iterative trials of a manipulative operation. First, mating processes are kinematically analyzed and conditions for admittance matrix elements
more » ... matrix elements are d erived b ased o n m o diability analysis. Second, reaction forces during a mating process are investigated a n d a function to evaluate the process is dened. A learning algorithm is then developed b ased on nonlinear programming techniques. The developed algorithm is applied to a mating operation in a computer simulation. Finally, an experimental result is shown to demonstrate the validity of the proposed method.
doi:10.1109/iros.1996.571048 dblp:conf/iros/HiraiII96 fatcat:gcm747k6ivdjvobxn7ixpswqay