A learning control method for a parallel link direct-drive robot manipulator is introduced. The acceleration error is used to correct the motion of the direct-drive motors. A theoretical method, which estimates the convergence condition of the learning control process based on the limit condition of a geometric series, is proposed. The validity of the proposed theory is proved through a computer simulation, and the method is applied to the practical system of a parallel link direct-drive robot manipulator. The convergence condition of a learning control system can be quantitatively estimated by the divergent index which is defined in this study.
- Direct-drive robot manipulator
- Iterative operation
- Learning control
- Trajectory control
ASJC Scopus subject areas
- Control and Systems Engineering
- Computer Science Applications