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Object Property Identification Using Uncertain Robot Manipulator

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Pattern Recognition (CCPR 2016)

Part of the book series: Communications in Computer and Information Science ((CCIS,volume 662))

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Abstract

This paper presents a learning control algorithm to identify object properties by an uncertain robot manipulator. On one hand, for the robot system with unknown (or immeasurable) parameters, the manipulator dynamics properties are uncertain so we use adaptive parameter learning law to estimate the practically unknown dynamics. On the other hand, a reference model is specified to be followed. In order to identify the geometry and elasticity of the interacting object, the reference point and feedforward force in reference model is adapted in each trial. Because the updating of the reference model utilizes the estimated parameters, the learning law of parameter estimation is thus designed to guarantee the convergence of parameter estimation in finite time (FT). Simulation studies demonstrate the effectiveness of our proposed method.

This work was partially supported by National Nature Science Foundation (NSFC) under Grant 61473120, Guangdong Provincial Natural Science Foundation 2014A030313266 and International Science and Technology Collaboration Grant 2015A050502017, Science and Technology Planning Project of Guangzhou 201607010006 and the Fundamental Research Funds for the Central Universities under Grant 2015ZM065.

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Author information

Authors and Affiliations

  1. Key Laboratory of Autonomous Systems and Networked Control, College of Automation Science and Engineering, South China University of Technology, Guangzhou, 510640, China

    Kunxia Huang & Chenguang Yang

  2. Zienkiewicz Center for Computational Engineering, Swansea University, Swansea, SA1 8EN, UK

    Chenguang Yang

  3. Center for Robotics, University of Electronic Science and Technology of China, Chengdu, 611731, Sichuan, China

    Hong Cheng

Authors
  1. Kunxia Huang
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  2. Chenguang Yang
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  3. Hong Cheng
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Corresponding author

Correspondence to Chenguang Yang .

Editor information

Editors and Affiliations

  1. Institute of Automation, Chinese Academy of Sciences, Beijing, China

    Tieniu Tan

  2. Xi’an Institute of Optics and Precision Mechanics, Chinese Academy of Sciences, Xi'an, China

    Xuelong Li

  3. Chinese Academy of Sciences, Institute of Computing Technology, Beijing, China

    Xilin Chen

  4. Tsinghua University , Beijing, China

    Jie Zhou

  5. Nanjing University of Science and Technology, Nanjing, China

    Jian Yang

  6. University of Electronic Science and Technology, Chengdu, Sichuan, China

    Hong Cheng

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© 2016 Springer Nature Singapore Pte Ltd.

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Huang, K., Yang, C., Cheng, H. (2016). Object Property Identification Using Uncertain Robot Manipulator. In: Tan, T., Li, X., Chen, X., Zhou, J., Yang, J., Cheng, H. (eds) Pattern Recognition. CCPR 2016. Communications in Computer and Information Science, vol 662. Springer, Singapore. https://doi.org/10.1007/978-981-10-3002-4_15

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  • DOI: https://doi.org/10.1007/978-981-10-3002-4_15

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-10-3001-7

  • Online ISBN: 978-981-10-3002-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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