{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2024,10,6]],"date-time":"2024-10-06T00:38:06Z","timestamp":1728175086420},"reference-count":14,"publisher":"Cambridge University Press (CUP)","issue":"1","license":[{"start":{"date-parts":[[2009,3,9]],"date-time":"2009-03-09T00:00:00Z","timestamp":1236556800000},"content-version":"unspecified","delay-in-days":4816,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[1996,1]]},"abstract":"<jats:title>Summary<\/jats:title><jats:p>A learning control algorithm is proposed for hybrid force\/position tracking of a manipulator in contact with a <jats:italic>hard<\/jats:italic> surface. The algorithm utilizes acceleration errors and force errors for learning the inputs required to perform repetitive tasks. We prove the convergence of both force and position tracking errors theoretically. The speed of convergence of the tracking errors is shown to be improved by proper choice of learning gains. The method is compared with PI and PID learning, and similarities with the free-space case are outlined. The robustness of the new scheme to uncertainties in surface geometry and link parameters is discussed. Results of simulation studies and experimental implementation on 3-link robot manipulators are presented to illustrate the effectiveness of the proposed learning controller.<\/jats:p>","DOI":"10.1017\/s0263574700018932","type":"journal-article","created":{"date-parts":[[2009,3,10]],"date-time":"2009-03-10T09:11:23Z","timestamp":1236676283000},"page":"51-59","source":"Crossref","is-referenced-by-count":6,"title":["Hybrid force\/position control for robot manipulators based on a D-type learning law"],"prefix":"10.1017","volume":"14","author":[{"given":"Shunmugham R.","family":"Pandian","sequence":"first","affiliation":[]},{"given":"Sadao","family":"Kawamura","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2009,3,9]]},"reference":[{"key":"S0263574700018932_ref010","unstructured":"10. Naniwa T. and Arimoto S. , \u201cLearning Control for Robot Tasks under Geometric Constraints\u201d Proc. IEEE Int. Conf. Robotics Automat., San Diego. CA (1994) pp. 2921\u20132927."},{"key":"S0263574700018932_ref002","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620010203"},{"key":"S0263574700018932_ref003","doi-asserted-by":"publisher","DOI":"10.7210\/jrsj.11.509"},{"key":"S0263574700018932_ref001","unstructured":"1. Arimoto S. , \u201cLearning for Skill Refinement\u201d Proc. Int. Workshop on Intelligent Robots and Systems Osaka (1991) pp. 10\u201313."},{"key":"S0263574700018932_ref007","unstructured":"7. Guglielmo K. and Sadegh N. , \u201cTheory and Implementation of a Hybrid Learning Force Control Scheme\u201d Proc. IEEE Int. Conf. Robotics Automat, Atlanta. GA (1993) pp. 659\u2013664."},{"key":"S0263574700018932_ref013","unstructured":"13. Pandian S.R. . Kawamura S. and Nakamura K. , \u201cForce\/Position Learning Control of Multiple Robot Manipulators\u201d Japan - U.S.A. Symposium on Flexible Automation, Kobe (1994) pp. 955\u2013962."},{"key":"S0263574700018932_ref005","unstructured":"5. Kawamura S. , Choi W. and Morizono T. , \u201cA Study of Learning Hybrid Force and Position Control for Robot Manipulators\u201d Proc. Japan - USA Symp. on Flexible Automation San Francisco, CA (1992) pp. 1295\u20131300."},{"key":"S0263574700018932_ref014","unstructured":"14. Aicardi M. . Cannata G. and Casalino G. , \u201cHybrid Learning Control Techniques for the Manipulation of Rigid Objects\u201d Proc. IEEE Int. Conf. Robotics Automat. Atlanta, GA (1993) pp. 672\u2013677."},{"key":"S0263574700018932_ref004","unstructured":"4. Kawamura S. , Arimoto S. and Miyazaki F. , \u201cHybrid Position\/Force Control of Robot Manipulators based on Learning Method\u201d Proc. Int. Conf. Advanced Robotics, Tokyo, (1985) pp. 235\u2013242."},{"key":"S0263574700018932_ref008","unstructured":"8. Aicardi M. . Cannata G. and Casalino G. , \u201cApplication of Learning Techniques in the Hybrid Control of Mechanical Manipulators\u201d Proc. IEEE Int. Workshop on Intelligent Motion Control Istanbul (1990) pp. 137\u2013145."},{"key":"S0263574700018932_ref011","doi-asserted-by":"publisher","DOI":"10.1109\/9.109644"},{"key":"S0263574700018932_ref006","unstructured":"6. Jeon D. and Tomizuka M. , \u201cLearning Hybrid Force and Position Control of Robot Manipulators\u201d Proc. IEEE Int. Conf. Robotics Automat., Nice (1992) pp. 1455\u20131460."},{"key":"S0263574700018932_ref009","unstructured":"9. Cheah C.C. , Wang D. and Soh Y.C. , \u201cLearning Control of Constrained Robots\u201d Proc. IEEE Int. Svmp. 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