Learning control of a parallel-link direct-drive robot manipulator

Yasuo Konishi, Tojiro Aoyama, Ichiro Inasaki

Research output: Contribution to journalArticle

6 Citations (Scopus)

Abstract

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.

Original languageEnglish
Pages (from-to)127-134
Number of pages8
JournalRobotics and Autonomous Systems
Volume5
Issue number2
DOIs
Publication statusPublished - 1989 Jul

Keywords

  • Direct-drive robot manipulator
  • Iterative operation
  • Learning control
  • Trajectory control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Mathematics(all)
  • Computer Science Applications

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