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
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;
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
DOI :
10.1109/TENCON.1993.320498
