Reference : Robotic trajectory tracking: Bio-inspired position and torque control

	Document type :	Scientific congresses, symposiums and conference proceedings : Paper published in a journal
	Discipline(s) :	Engineering, computing & technology : Mechanical engineering
	To cite this reference:	http://hdl.handle.net/10993/40015

Title :	Robotic trajectory tracking: Bio-inspired position and torque control
Language :	English
Author, co-author :	Klecker, Sophie [University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit >]
	Hichri, Bassem [University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit >]
	Plapper, Peter [University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit >]
Publication date :	2019
Journal title :	Procedia CIRP
Publisher :	elsevier
Peer reviewed :	Yes
Audience :	International
Event name :	13th CIRP Conference on Intelligent Computation in Manufacturing Engineering
Event date :	from 17-07-2019 to 19-07-2019
Event place (city) :	Gulf of Naples (Ischia)
Event country :	Italy
Keywords :	[en] Trajectory tracking ; position/torque control ; parallel control ; adaptive NN ; reinforcement learning ; adaptive control ; robust control ; contact
Abstract :	[en] As far as complex contact-based manufacturing tasks are concerned, humans outperform machines. Indeed, conventionally controlled robotic manipulators are limited to basic applications in close to ideal circumstances. However, tedious work in hazardous environments, make some tasks unsuitable for humans. Therefore, the interest in expanding the application-areas of robots arose. This paper employs a bottom-up approach to develop robust and adaptive learning algorithms for trajectory tracking: position and torque control in the presence of uncertainties and switching constraints. The robotic manipulators mimicking the human behavior based on bio-inspired algorithms, take advantage of their know-how. Simulations and experiments validate the concept-performance.
Permalink :	http://hdl.handle.net/10993/40015

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