Title :
Iterative learning control for robot manipulators using the finite dimensional input subspace
Author :
Hamamoto, Kiichi ; Sugie, Toshiharu
Author_Institution :
Adv. Technol. Dept., Kajima Tech. Res. Inst., Tokyo, Japan
Abstract :
Proposes a new type of iterative learning control algorithm for manipulators, which seeks the desired input in an appropriate finite dimensional input subspace. The convergence condition of the learning law is derived, and several advantages of the proposed method are pointed out. The effectiveness of the proposed method is demonstrated by experiments
Keywords :
closed loop systems; convergence; learning systems; manipulator dynamics; position control; convergence condition; finite dimensional input subspace; iterative learning control; robot manipulators; Appropriate technology; Control systems; Convergence; Informatics; Iterative algorithms; Iterative methods; Low pass filters; Manipulators; Robot control; Robot kinematics;
Conference_Titel :
Decision and Control, 2001. Proceedings of the 40th IEEE Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-7061-9
DOI :
10.1109/.2001.980989
