Title :
Learning control for robotic manipulators in discrete-time formulation
Author :
Deman, Liu ; Chaowan, Yin ; Xinsong, Jiang
Author_Institution :
Dept. of Autom. Control, Northeastern Univ., Liaoning, China
Abstract :
A new discrete-time formulation of iterative learning control is developed in which partial knowledge of the robot dynamic model is utilized. From the characteristics and implementation points of view, it appears to be more attractive than existing learning control shemes. The convergence issue is particularly addressed. Moreover, effectiveness of this control method is demonstrated through computer simulations in which PUMA 560 robot with first three degrees of freedom is used
Keywords :
convergence of numerical methods; discrete time systems; intelligent control; iterative methods; learning systems; manipulators; PUMA 560 robot; convergence; discrete-time formulation; iterative learning control; robot dynamic model; robotic manipulators; Actuators; Automatic control; Control systems; Differential equations; Manipulator dynamics; Motion control; Robot control; Robot kinematics; Robotics and automation; Torque;
Conference_Titel :
American Control Conference, Proceedings of the 1995
Print_ISBN :
0-7803-2445-5
DOI :
10.1109/ACC.1995.529376
