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Iterative Self-Improvement of Force Feedback Control in Contour Tracking

Lange, F. and Hirzinger, G. (1992) Iterative Self-Improvement of Force Feedback Control in Contour Tracking. In: Proc. IEEE Int. Conf. on Robotics and Automation. IEEE Int. Conf. on Robotics and Automation, Nizza, 10.-15.05.92.

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A very general 3 level learning method is presented, aiming at self-improvement of the parameters of a force feedback controller in contour tracking tasks. It is assumed that no model is known a priori, neither of the robot nor of the contour to be tracked. The system identifies such a model, including information about its reliability. Model and estimated noise are used to generate optimal control actions for the sample trajectory. They are then used for estimation of the parameters of the controller. This controller then produces a new trajectory, which in turn may be optimized and trainedthereafter. Kalman filter techniques are applied in all adaptation levels involved. Learning is possible off-line or on-line. Model and controller may be based on linear difference equations or include nonlinear mappings as associative or tabular memories or neural networks. It is shown, that even for a linear controller substantial improvements can be attained, the more as no assumptions are needed about the bandwidth.

Item URL in elib:https://elib.dlr.de/27964/
Document Type:Conference or Workshop Item (Paper)
Additional Information: LIDO-Berichtsjahr=1992, pages=6,
Title:Iterative Self-Improvement of Force Feedback Control in Contour Tracking
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Journal or Publication Title:Proc. IEEE Int. Conf. on Robotics and Automation
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Event Title:IEEE Int. Conf. on Robotics and Automation, Nizza, 10.-15.05.92
HGF - Research field:UNSPECIFIED
HGF - Program:Space (old)
HGF - Program Themes:W RP - Raumtransport
DLR - Research area:UNSPECIFIED
DLR - Program:W RP - Raumtransport
DLR - Research theme (Project):UNSPECIFIED
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012) > Institut für Dynamik der Flugsysteme
Deposited By: DLR-Beauftragter, elib
Deposited On:02 Apr 2006
Last Modified:27 Apr 2009 06:50

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