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

Yasuo Konishi; Tojiro Aoyama; Ichiro Inasaki

doi:10.1016/0921-8890(89)90005-5

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

Yasuo Konishi, Tojiro Aoyama, Ichiro Inasaki

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Research output: Contribution to journal › Article › peer-review

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 language	English
Pages (from-to)	127-134
Number of pages	8
Journal	Robotics and Autonomous Systems
Volume	5
Issue number	2
DOIs	https://doi.org/10.1016/0921-8890(89)90005-5
Publication status	Published - 1989 Jul

Keywords

Direct-drive robot manipulator
Iterative operation
Learning control
Trajectory control

ASJC Scopus subject areas

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

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10.1016/0921-8890(89)90005-5

Cite this

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title = "Learning control of a parallel-link direct-drive robot manipulator",

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.",

keywords = "Direct-drive robot manipulator, Iterative operation, Learning control, Trajectory control",

author = "Yasuo Konishi and Tojiro Aoyama and Ichiro Inasaki",

note = "Funding Information: The authors would like to thank Professor Dr. N. Kunimatu for his comments and suggestion on drafts of this paper. This work was supported by Nippon Seiko K.K. and the Matsuda Foundation.",

year = "1989",

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doi = "10.1016/0921-8890(89)90005-5",

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TY - JOUR

T1 - Learning control of a parallel-link direct-drive robot manipulator

AU - Konishi, Yasuo

AU - Aoyama, Tojiro

AU - Inasaki, Ichiro

N1 - Funding Information: The authors would like to thank Professor Dr. N. Kunimatu for his comments and suggestion on drafts of this paper. This work was supported by Nippon Seiko K.K. and the Matsuda Foundation.

PY - 1989/7

Y1 - 1989/7

N2 - 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.

AB - 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.

KW - Direct-drive robot manipulator

KW - Iterative operation

KW - Learning control

KW - Trajectory control

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JO - Robotics and Autonomous Systems

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

Abstract

Keywords

ASJC Scopus subject areas

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