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

Fingerprint

Learning Control
Robot Manipulator
Manipulators
Convergence Condition
Robots
Geometric series
Learning Systems
Computer Simulation
Control System
Control systems
Motion
Computer simulation
Estimate

Keywords

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

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Computational Mechanics
  • Engineering(all)

Cite this

Learning control of a parallel-link direct-drive robot manipulator. / Konishi, Yasuo; Aoyama, Tojiro; Inasaki, Ichiro.

In: Robotics and Autonomous Systems, Vol. 5, No. 2, 1989, p. 127-134.

Research output: Contribution to journalArticle

Konishi, Yasuo ; Aoyama, Tojiro ; Inasaki, Ichiro. / Learning control of a parallel-link direct-drive robot manipulator. In: Robotics and Autonomous Systems. 1989 ; Vol. 5, No. 2. pp. 127-134.
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