Title :
Combined learning and identification techniques in the control of robotic manipulators
Author :
Aicardi, M. ; Casalino, G. ; Bartolini, G.
Author_Institution :
Dept. of Commun., Comput. & Syst. Sci., Genoa Univ., Italy
Abstract :
A nonlinear analysis of iterative learning control procedures is carried out for robotic systems, without assuming the presence of any online acceleration feedback. Global sufficient conditions for stability and convergence of the procedure are presented in terms of the accuracy with which the inertia matrix of the robot must be known. An algorithm for the identification of the parameters of the matrix, capable of guaranteeing the required accuracy, is presented
Keywords :
identification; iterative methods; learning systems; matrix algebra; nonlinear control systems; robots; convergence; identification; inertia matrix; iterative learning control; robotic manipulators; stability; sufficient conditions; Acceleration; Adaptive control; Communication system control; Convergence; Feedback; Manipulators; Robot control; Robot kinematics; Stability; Sufficient conditions;
Conference_Titel :
Decision and Control, 1989., Proceedings of the 28th IEEE Conference on
Conference_Location :
Tampa, FL
DOI :
10.1109/CDC.1989.70428
