Title :
Iterative learning control of a robot manipulator using nD practical tracking approach
Author :
Yamada, Minoru ; Li, Xu ; Saito, Osami
Author_Institution :
Gifu Nat. Coll. of Technol., Motosu Gifu, Japan
Abstract :
Iterative learning control systems can be viewed as 2D (2 dimensional) systems because these have two kinds of dynamics. This study uses the nD practical tracking control theory to design an iterative learning controller such that a two link robot manipulator tracks desired trajectory. Experimental results are also shown.
Keywords :
iterative methods; learning systems; manipulators; multidimensional systems; 2D systems; iterative learning control; nD practical tracking; robot manipulator; Boundary conditions; Control systems; Control theory; Educational institutions; Error correction; Iterative methods; Manipulator dynamics; Neodymium; Robot control; Trajectory;
Conference_Titel :
Circuits and Systems, 2004. MWSCAS '04. The 2004 47th Midwest Symposium on
Print_ISBN :
0-7803-8346-X
DOI :
10.1109/MWSCAS.2004.1354221
