DocumentCode
3569649
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
Volume
2
fYear
2004
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Circuits and Systems, 2004. MWSCAS '04. The 2004 47th Midwest Symposium on
Print_ISBN
0-7803-8346-X
Type
conf
DOI
10.1109/MWSCAS.2004.1354221
Filename
1354221
Link To Document