Iterative learning control for robot manipulators using the finite dimensional input subspace

被引:40
作者
Hamamoto, K [1 ]
Sugie, T
机构
[1] Kajima Tech Res Inst, Adv Technol Dept, Chofu, Tokyo 1820036, Japan
[2] Kyoto Univ, Dept Syst Sci, Kyoto 6110011, Japan
来源
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 2002年 / 18卷 / 04期
关键词
iterative learning control; tracking; robot manipulator; passivity;
D O I
10.1109/TRA.2002.801050
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
This paper proposes a new type of iterative learning control algorithm for manipulators, which seeks the desired input in an appropriate finite dimensional input subspace. The method achieves perfect tracking for uncertain manipulators without using time derivative of tracking error signals in the learning law. The convergence condition of the learning process is derived, and the effectiveness of the proposed method is evaluated by experiments using a two-link direct drive arm.
引用
收藏
页码:632 / 635
页数:4
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