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

Yasuo Konishi, Tojiro Aoyama, Ichiro Inasaki

研究成果: Article査読

6 被引用数 (Scopus)

抄録

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.

本文言語English
ページ(範囲)127-134
ページ数8
ジャーナルRobotics and Autonomous Systems
5
2
DOI
出版ステータスPublished - 1989 7

ASJC Scopus subject areas

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

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