DocumentCode
2044354
Title
A new learning control strategy for robots in constrained manipulation
Author
Leung, T.P. ; Gang-Qiang Cai ; Qi-Jie Zhou
Author_Institution
Dept. of Mech. & Marine Eng., Hong Kong Polytech., Kowloon, Hong Kong
Volume
4
fYear
1993
fDate
19-21 Oct. 1993
Firstpage
324
Abstract
In this paper, an iterative learning control strategy is presented for a class of constrained robots. The controller design is based on the reduced form of the robot model. The strategy guarantees the perfect motion tracking of the robot with its end-effector moving on a linear and frictionless constrained surface in the presence of unknown bounded disturbances. The bounded and adjustable force tracking error is obtained.<>
Keywords
learning systems; robot dynamics; robots; tracking; adjustable force tracking error; constrained manipulation; end-effector; iterative learning control strategy; linear frictionless constrained surface; perfect motion tracking; robots; unknown bounded disturbances; Automatic control; Control systems; Displacement control; Force control; Motion control; Robot control; Robotics and automation; Service robots; Torque control; Uncertainty;
fLanguage
English
Publisher
ieee
Conference_Titel
TENCON '93. Proceedings. Computer, Communication, Control and Power Engineering.1993 IEEE Region 10 Conference on
Conference_Location
Beijing, China
Print_ISBN
0-7803-1233-3
Type
conf
DOI
10.1109/TENCON.1993.320498
Filename
320498
Link To Document