Title :
On the learning control of a robot manipulator
Author :
Dawson, D.M. ; Qu, Z. ; Dorsey, J.F.
Author_Institution :
Sch. of Electr. Eng., Georgia Inst. of Technol., Atlanta, GA, USA
Abstract :
A learning control law is derived to achieve trajectory following for a robot manipulator. The controller consists of a computed torque servo for the rigid body terms that can be modeled and a learning law for the unmodeled dynamics. Two advantages of this method are that bounds can be assigned to the position and velocity tracking errors and that no measurements of joint acceleration are required
Keywords :
dynamics; learning systems; position control; robots; computed torque servo; learning control; position control; robot manipulator; tracking errors; trajectory following; unmodeled dynamics; Equations; Error correction; Manipulator dynamics; Matrices; Position measurement; Robot control; Servomechanisms; Torque control; Transfer functions; Velocity measurement;
Conference_Titel :
Decision and Control, 1989., Proceedings of the 28th IEEE Conference on
Conference_Location :
Tampa, FL
DOI :
10.1109/CDC.1989.70656
