Title :
Iterative learning control of robots with elastic joints
Author :
De Luca, Alessandro ; Ulivi, Giovanni
Author_Institution :
Dipartimento di Inf. e Sistemistica, Rome Univ., Italy
Abstract :
The design of a repetitive learning controller for robots with elastic joints, following a frequency-domain approach, is presented. An efficient and simple iterative learning algorithm is presented, allowing solution of the output tracking problem with limited knowledge of system dynamics and using only a linear stabilizing feedback on the motor variables. Simulation results reported for a two-link planar robot under gravity showed good motion performance in this critical case
Keywords :
control system synthesis; feedback; frequency-domain analysis; iterative methods; learning (artificial intelligence); position control; robots; stability; elastic joints; frequency-domain; iterative learning; linear stabilizing feedback; motion control; motor variables; output tracking; repetitive learning controller; system dynamics; two-link planar robot; Convergence; Elasticity; Frequency; Learning systems; Manipulators; Noise measurement; Robot control; Service robots; State feedback; Torque;
Conference_Titel :
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Conference_Location :
Nice
Print_ISBN :
0-8186-2720-4
DOI :
10.1109/ROBOT.1992.219948
