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

Yasuo Konishi, Tojiro Aoyama, Ichiro Inasaki

Research output: Contribution to journalArticle

Abstract

This paper describes the learning control method of a parallel-link direct-drive robot manipulator. The acceleration error is used to correct the motion of the direct-drive motors. A theoretical method, which estimates the convergent limit of the learning control process based on the limit of a geometric series, is proposed. The validity of this proposed theory is proven through computer simulation; it is then applied to the practical system of a parallel-link direct-drive robot manipulator. The convergent limit of a learning control system can be quantitatively estimated by the divergent coefficient which is defined in this study.

Original languageEnglish
Pages (from-to)382-388
Number of pages7
JournalNippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume55
Issue number510
Publication statusPublished - 1989 Feb
Externally publishedYes

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Manipulators
Robots
Control systems
Computer simulation

ASJC Scopus subject areas

  • Mechanical Engineering

Cite this

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

In: Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, Vol. 55, No. 510, 02.1989, p. 382-388.

Research output: Contribution to journalArticle

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