DocumentCode
2198020
Title
Iterative learning control for robot manipulators using the finite dimensional input subspace
Author
Hamamoto, Kiichi ; Sugie, Toshiharu
Author_Institution
Adv. Technol. Dept., Kajima Tech. Res. Inst., Tokyo, Japan
Volume
5
fYear
2001
fDate
2001
Firstpage
4926
Abstract
Proposes a new type of iterative learning control algorithm for manipulators, which seeks the desired input in an appropriate finite dimensional input subspace. The convergence condition of the learning law is derived, and several advantages of the proposed method are pointed out. The effectiveness of the proposed method is demonstrated by experiments
Keywords
closed loop systems; convergence; learning systems; manipulator dynamics; position control; convergence condition; finite dimensional input subspace; iterative learning control; robot manipulators; Appropriate technology; Control systems; Convergence; Informatics; Iterative algorithms; Iterative methods; Low pass filters; Manipulators; Robot control; Robot kinematics;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2001. Proceedings of the 40th IEEE Conference on
Conference_Location
Orlando, FL
Print_ISBN
0-7803-7061-9
Type
conf
DOI
10.1109/.2001.980989
Filename
980989
Link To Document