Title :
Experiments on repositioning control of robots by learning
Author :
Lucibello, P. ; Panzieri, S.
Author_Institution :
Dipartimento di Inf. e Sistemistica, Rome Univ., Italy
Abstract :
Experimental results on the repositioning of a rigid robot link from one equilibrium point to another are presented. By means of a learning algorithm, which uses only the positioning error at the end of a trial, the control torque needed to move the robot is found. After a high gain feedback linearization of the robot dynamics, a simple, finite dimensional learning algorithm is applied. The results of the experiments, carried out on a two link robot under gravity, show that the algorithm is robust and performs quite satisfactorily
Keywords :
feedback; learning (artificial intelligence); learning systems; linearisation techniques; position control; robot dynamics; control torque; finite dimensional learning algorithm; high gain feedback linearization; positioning error; repositioning control; rigid robot link; robot dynamics; two link robot; Acceleration; Error correction; Feedback; Gravity; Joining processes; Robot control; Robust control; Robustness; Torque control; Trajectory;
Conference_Titel :
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-8186-5330-2
DOI :
10.1109/ROBOT.1994.350897